+ python -m lidar_slam --no-model /working/6aa5b4b3-a490-4e8d-b976-f1b26bc105a8 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/6aa5b4b3-a490-4e8d-b976-f1b26bc105a8 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.01534707 Adjusted end_distance from 9.223372036854776e+18 to 160.52302707 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01534707 meters 0.14632579933094886 Centerline is valid? [0, False] SLAMing on 0.07534707 meters 0.1495592205322348 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.00 [[ 9.99977494e-01 6.61207328e-03 -1.13635196e-03 -8.23113268e-03] [-6.61147445e-03 9.99978004e-01 5.29933640e-04 -1.53069459e-02] [ 1.13983092e-03 -5.22408752e-04 9.99999214e-01 2.86390644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13534706999999999 meters 0.1553640364149902 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.01 [[ 9.99921306e-01 1.23179468e-02 -2.37700326e-03 -1.69175934e-02] [-1.23177295e-02 9.99924128e-01 1.06053585e-04 -2.82651101e-02] [ 2.37812927e-03 -7.67659560e-05 9.99997169e-01 5.42311231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19534706999999998 meters 0.16162263586143208 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:0.01 [[ 0.99983885 0.01050176 -0.01455954 -0.01389848] [-0.01063027 0.99990497 -0.00877761 -0.03515278] [ 0.01446598 0.00893096 0.99985548 0.00815136] [ 0. 0. 0. 1. ]] SLAMing on 0.25534707 meters 0.1398326959113581 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.02 [[ 0.99966685 -0.01563702 -0.02053448 0.02676241] [ 0.01485407 0.99917708 -0.03774293 -0.0376812 ] [ 0.02110777 0.03742533 0.99907648 0.02038257] [ 0. 0. 0. 1. ]] SLAMing on 0.31534707 meters 0.09518023966333614 Centerline is valid? [False, True] Translation: X:0.07, Y:-0.04, Z:0.03 [[ 0.99908844 -0.032646 -0.02750506 0.0720002 ] [ 0.03180391 0.99902816 -0.03051644 -0.04256268] [ 0.02847457 0.02961386 0.99915575 0.02969401] [ 0. 0. 0. 1. ]] SLAMing on 0.37534707 meters 0.04839392242152414 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.04, Z:0.04 [[ 9.98194786e-01 -4.22781935e-02 -4.26582123e-02 1.14519745e-02] [ 4.22957091e-02 9.99105015e-01 -4.92259283e-04 -3.59737330e-02] [ 4.26408456e-02 -1.31288869e-03 9.99089603e-01 3.72004351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43534707 meters 0.022101701345350697 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.02, Z:0.03 [[ 9.97647605e-01 -4.71991584e-02 -4.97141337e-02 -4.68452433e-02] [ 4.72291154e-02 9.98883919e-01 -5.72602788e-04 -2.06233999e-02] [ 4.96856750e-02 -1.77669876e-03 9.98763324e-01 2.96014266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49534707 meters 0.01871033402443269 Centerline is valid? [True, True] Translation: X:-0.11, Y:-0.01, Z:0.03 [[ 9.97942897e-01 -3.83051401e-02 -5.14071103e-02 -1.08024775e-01] [ 3.83255965e-02 9.99265131e-01 -5.88131012e-04 -7.04137959e-03] [ 5.13918613e-02 -1.38328700e-03 9.98677607e-01 3.23751200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.55534707 meters 0.015321878241091236 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.02, Z:0.03 [[ 9.98300644e-01 -3.00973436e-02 -4.98996338e-02 -1.66712745e-01] [ 3.01063037e-02 9.99546539e-01 -5.72211922e-04 1.51583388e-02] [ 4.98942284e-02 -9.31054003e-04 9.98754073e-01 3.17020054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.61534707 meters 0.012980115914852755 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.04, Z:0.04 [[ 9.98643678e-01 -1.74154572e-02 -4.90663396e-02 -2.25857274e-01] [ 1.74090155e-02 9.99848296e-01 -5.58670903e-04 4.13370147e-02] [ 4.90686255e-02 -2.96283499e-04 9.98795366e-01 3.61520200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6753470699999999 meters 0.012943444855991085 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.06, Z:0.04 [[ 9.98690413e-01 -9.77059438e-03 -5.02194553e-02 -2.85300434e-01] [ 9.75438629e-03 9.99952264e-01 -5.67825590e-04 5.99420893e-02] [ 5.02226060e-02 7.72220072e-05 9.98738046e-01 3.71505722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.73534707 meters 0.012795815536140953 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.07, Z:0.04 [[ 9.98841871e-01 -9.57393673e-03 -4.71514135e-02 -3.43866743e-01] [ 9.55941732e-03 9.99954165e-01 -5.33422650e-04 6.73214714e-02] [ 4.71543593e-02 8.20648396e-05 9.98887611e-01 3.72532639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.79534707 meters 0.013039948306403284 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.08, Z:0.03 [[ 9.98569316e-01 -7.28292750e-03 -5.29743391e-02 -4.02070806e-01] [ 7.26288830e-03 9.99973462e-01 -5.70782514e-04 7.63757909e-02] [ 5.29770902e-02 1.85219197e-04 9.98595711e-01 2.81820587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.85534707 meters 0.012695230831231818 Centerline is valid? [True, True] Translation: X:-0.46, Y:0.08, Z:0.03 [[ 9.98749909e-01 -9.82658342e-03 -4.90107891e-02 -4.61424086e-01] [ 9.81250935e-03 9.99951717e-01 -5.27764119e-04 8.24992321e-02] [ 4.90136088e-02 4.61855391e-05 9.98798110e-01 2.86482521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9153470699999999 meters 0.012918487786618736 Centerline is valid? [True, True] Translation: X:-0.52, Y:0.09, Z:0.03 [[ 9.98680027e-01 -1.70294887e-02 -4.84582284e-02 -5.19556345e-01] [ 1.70253913e-02 9.99854934e-01 -4.97337685e-04 8.53446583e-02] [ 4.84596681e-02 -3.28339086e-04 9.98825086e-01 2.69786880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.97534707 meters 0.013316011542236906 Centerline is valid? [True, True] Translation: X:-0.58, Y:0.09, Z:0.02 [[ 9.98632670e-01 -1.65312383e-02 -4.95934303e-02 -5.78344364e-01] [ 1.65267332e-02 9.99863299e-01 -5.00928534e-04 8.83822491e-02] [ 4.95949318e-02 -3.19373793e-04 9.98769363e-01 2.40861192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.03534707 meters 0.014461118950404583 Centerline is valid? [True, True] Translation: X:-0.64, Y:0.12, Z:0.02 [[ 9.98611117e-01 4.56259748e-03 -5.24882791e-02 -6.36934954e-01] [-4.59639005e-03 9.99989300e-01 -5.23117468e-04 1.20119095e-01] [ 5.24853306e-02 7.63647523e-04 9.98621403e-01 1.84012654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.09534707 meters 0.025582018786088914 Centerline is valid? [True, True] Translation: X:-0.70, Y:0.17, Z:0.01 [[ 9.97581104e-01 4.39388238e-02 -5.38639134e-02 -6.97200124e-01] [-4.40312072e-02 9.99030016e-01 -5.29045671e-04 1.65297289e-01] [ 5.37884206e-02 2.89945910e-03 9.98548146e-01 1.13611649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.15534707 meters 0.032155250804726976 Centerline is valid? [True, True] Translation: X:-0.76, Y:0.19, Z:0.01 [[ 9.96761345e-01 5.99659385e-02 -5.35808417e-02 -7.58008289e-01] [-6.00803682e-02 9.98193404e-01 -5.26014503e-04 1.86409802e-01] [ 5.34524998e-02 3.74346762e-03 9.98563376e-01 7.83733840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.21534707 meters 0.027691844960585795 Centerline is valid? [True, True] Translation: X:-0.82, Y:0.18, Z:0.01 [[ 9.97711848e-01 4.36210054e-02 -5.16553642e-02 -8.18546038e-01] [-4.37055001e-02 9.99044330e-01 -5.06764806e-04 1.82745411e-01] [ 5.15838931e-02 2.76322877e-03 9.98664842e-01 5.05586409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.27534707 meters 0.02069303887786112 Centerline is valid? [True, True] Translation: X:-0.88, Y:0.17, Z:0.00 [[ 9.98248346e-01 2.90724853e-02 -5.15269862e-02 -8.78273300e-01] [-2.91372097e-02 9.99575294e-01 -5.05237942e-04 1.73688431e-01] [ 5.14904138e-02 2.00570554e-03 9.98671475e-01 2.92433365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3353470699999999 meters 0.020118911253527046 Centerline is valid? [True, True] Translation: X:-0.94, Y:0.18, Z:0.00 [[ 9.98343912e-01 2.46650304e-02 -5.19718113e-02 -9.38541836e-01] [-2.47248711e-02 9.99694164e-01 -5.08690306e-04 1.79469939e-01] [ 5.19433696e-02 1.79284420e-03 9.98648423e-01 4.25743603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.39534707 meters 0.018412998351815348 Centerline is valid? [True, True] Translation: X:-1.00, Y:0.19, Z:0.01 [[ 9.98543802e-01 1.84908954e-02 -5.06790115e-02 -9.98742231e-01] [-1.85396970e-02 9.99828004e-01 -4.92995246e-04 1.85991570e-01] [ 5.06611790e-02 1.43185086e-03 9.98714872e-01 6.39657680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.45534707 meters 0.01717207347614073 Centerline is valid? [True, True] Translation: X:-1.06, Y:0.19, Z:0.01 [[ 9.98593943e-01 1.25770752e-02 -5.14971304e-02 -1.05885839e+00] [-1.26194521e-02 9.99920248e-01 -4.97819244e-04 1.94641211e-01] [ 5.14867623e-02 1.14698485e-03 9.98673018e-01 9.14084466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.51534707 meters 0.016390273127513535 Centerline is valid? [True, True] Translation: X:-1.12, Y:0.21, Z:0.01 [[ 9.98759187e-01 1.42711766e-02 -4.77118479e-02 -1.11664203e+00] [-1.43094295e-02 9.99897509e-01 -4.60268374e-04 2.05478894e-01] [ 4.77003893e-02 1.14242659e-03 9.98861035e-01 8.17805690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.57534707 meters 0.016958370563819915 Centerline is valid? [True, True] Translation: X:-1.18, Y:0.22, Z:0.01 [[ 9.98545031e-01 1.86864751e-02 -5.05829639e-02 -1.17504245e+00] [-1.87349440e-02 9.99824368e-01 -4.84195691e-04 2.15226016e-01] [ 5.05650320e-02 1.43116020e-03 9.98719745e-01 7.02804430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.63534707 meters 0.01778733287001113 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.22, Z:0.01 [[ 9.98667392e-01 2.11459116e-02 -4.70774896e-02 -1.23429683e+00] [-2.11897907e-02 9.99775377e-01 -4.33142689e-04 2.21574878e-01] [ 4.70577557e-02 1.43012763e-03 9.98891146e-01 1.06043387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.69534707 meters 0.017803002916743187 Centerline is valid? [True, True] Translation: X:-1.29, Y:0.23, Z:0.01 [[ 9.98584066e-01 2.21032083e-02 -4.83871083e-02 -1.29208646e+00] [-2.21496807e-02 9.99754576e-01 -4.24380174e-04 2.25056699e-01] [ 4.83658527e-02 1.49553828e-03 9.98828568e-01 1.13292125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.75534707 meters 0.016844648723536314 Centerline is valid? [True, True] Translation: X:-1.35, Y:0.22, Z:0.01 [[ 9.98489982e-01 2.02959928e-02 -5.10473119e-02 -1.34952861e+00] [-2.03437804e-02 9.99792957e-01 -4.16678133e-04 2.21616751e-01] [ 5.10282860e-02 1.45454425e-03 9.98696149e-01 6.34609407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8153470699999998 meters 0.016394561186166237 Centerline is valid? [True, True] Translation: X:-1.41, Y:0.22, Z:0.01 [[ 9.98640268e-01 1.68318627e-02 -4.93386636e-02 -1.40877529e+00] [-1.68721554e-02 9.99857575e-01 -4.00261910e-04 2.16655005e-01] [ 4.93248994e-02 1.23216726e-03 9.98782026e-01 8.87014829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.87534707 meters 0.01452375634225351 Centerline is valid? [True, True] Translation: X:-1.47, Y:0.21, Z:0.01 [[ 9.98748061e-01 9.41861378e-03 -4.91284110e-02 -1.46824062e+00] [-9.44825030e-03 9.99955295e-01 -3.71046864e-04 2.07121133e-01] [ 4.91227200e-02 8.34759860e-04 9.98792402e-01 6.72937459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.93534707 meters 0.014305093326923517 Centerline is valid? [True, True] Translation: X:-1.53, Y:0.20, Z:0.01 [[ 9.98726544e-01 2.73082698e-03 -5.03769089e-02 -1.52744275e+00] [-2.75362028e-03 9.99996135e-01 -3.83057179e-04 1.96606793e-01] [ 5.03756681e-02 5.21288251e-04 9.98730204e-01 8.39550235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.99534707 meters 0.012803215456974196 Centerline is valid? [True, True] Translation: X:-1.58, Y:0.18, Z:0.01 [[ 9.98709431e-01 -3.97077932e-03 -5.06330468e-02 -1.58467759e+00] [ 3.95770566e-03 9.99992104e-01 -3.58461501e-04 1.84509657e-01] [ 5.06340703e-02 1.57608186e-04 9.98717260e-01 5.40035282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05534707 meters 0.0130047491070466 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.17, Z:0.00 [[ 9.98613337e-01 -1.35630765e-02 -5.08669390e-02 -1.64233247e+00] [ 1.35626915e-02 9.99907960e-01 -3.52754110e-04 1.69825247e-01] [ 5.08670417e-02 -3.37627645e-04 9.98705377e-01 1.69144655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11534707 meters 0.014264095626773327 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.16, Z:0.00 [[ 9.98396481e-01 -1.90031749e-02 -5.33230383e-02 -1.70084644e+00] [ 1.90107795e-02 9.99819212e-01 -3.64644776e-04 1.57207098e-01] [ 5.33203275e-02 -6.49652461e-04 9.98577248e-01 8.04841090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.17534707 meters 0.015818784780499223 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.15, Z:0.01 [[ 9.98499990e-01 -2.07829392e-02 -5.06541102e-02 -1.75981301e+00] [ 2.07931805e-02 9.99783746e-01 -3.24835551e-04 1.47304052e-01] [ 5.06499071e-02 -7.28911765e-04 9.98716204e-01 6.95325351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2353470699999995 meters 0.015317197097433927 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.15, Z:0.00 [[ 9.98521474e-01 -1.74867436e-02 -5.14692194e-02 -1.81767821e+00] [ 1.74942894e-02 9.99846917e-01 -3.03929282e-04 1.49598081e-01] [ 5.14666551e-02 -5.96937504e-04 9.98674535e-01 2.08232907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2953470699999996 meters 0.012652892673442603 Centerline is valid? [True, True] Translation: X:-1.88, Y:0.16, Z:-0.00 [[ 9.98608728e-01 -4.85076860e-03 -5.25078890e-02 -1.87616509e+00] [ 4.84156770e-03 9.99988234e-01 -3.02426374e-04 1.58299018e-01] [ 5.25087382e-02 4.77851178e-05 9.98620464e-01 -8.42059352e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3553470699999997 meters 0.01649238716355262 Centerline is valid? [True, True] Translation: X:-1.94, Y:0.18, Z:-0.00 [[ 9.98477653e-01 1.30427904e-02 -5.35934838e-02 -1.93542606e+00] [-1.30778003e-02 9.99914436e-01 -3.02591100e-04 1.78716588e-01] [ 5.35849515e-02 1.00301533e-03 9.98562791e-01 -9.17034712e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4153470699999997 meters 0.023104644866894796 Centerline is valid? [True, True] Translation: X:-2.00, Y:0.20, Z:-0.00 [[ 9.98099141e-01 2.93455973e-02 -5.41935542e-02 -1.99521584e+00] [-2.94049939e-02 9.99567535e-01 -2.98794565e-04 1.97783061e-01] [ 5.41613491e-02 1.89178773e-03 9.98530405e-01 -3.17047066e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4753470699999998 meters 0.027298193568204558 Centerline is valid? [True, True] Translation: X:-2.06, Y:0.21, Z:-0.00 [[ 9.97603666e-01 4.20513571e-02 -5.49418771e-02 -2.05535473e+00] [-4.21315358e-02 9.99112027e-01 -3.01372610e-04 2.12929911e-01] [ 5.48804171e-02 2.61543608e-03 9.98489509e-01 -3.05207311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.53534707 meters 0.0287890435538061 Centerline is valid? [True, True] Translation: X:-2.12, Y:0.22, Z:-0.00 [[ 9.97286865e-01 4.94940952e-02 -5.44907732e-02 -2.11514427e+00] [-4.95838854e-02 9.98769919e-01 -2.96272819e-04 2.20558552e-01] [ 5.44090814e-02 2.99733324e-03 9.98514230e-01 -3.52186844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.59534707 meters 0.02749814872482506 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.22, Z:-0.00 [[ 9.97314315e-01 4.82566881e-02 -5.50949079e-02 -2.17398796e+00] [-4.83467038e-02 9.98830569e-01 -3.01379645e-04 2.19275059e-01] [ 5.50159346e-02 2.96422743e-03 9.98481077e-01 -4.16992024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6553470699999995 meters 0.024666505751414516 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.21, Z:-0.01 [[ 9.97493364e-01 4.29117946e-02 -5.62633688e-02 -2.23460665e+00] [-4.29957218e-02 9.99075217e-01 -2.81474526e-04 2.14560714e-01] [ 5.61992588e-02 2.69985312e-03 9.98415922e-01 -5.19483241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7153470699999995 meters 0.021437992646203035 Centerline is valid? [True, True] Translation: X:-2.30, Y:0.21, Z:-0.00 [[ 9.97830584e-01 3.51657587e-02 -5.56551351e-02 -2.29519602e+00] [-3.52358576e-02 9.99378986e-01 -2.78431653e-04 2.09262169e-01] [ 5.56107811e-02 2.23888404e-03 9.98450013e-01 -4.96648183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7753470699999996 meters 0.01968225674194773 Centerline is valid? [True, True] Translation: X:-2.36, Y:0.21, Z:-0.00 [[ 9.98029403e-01 3.08088093e-02 -5.46637684e-02 -2.35517854e+00] [-3.08699427e-02 9.99523372e-01 -2.74138528e-04 2.06029472e-01] [ 5.46292682e-02 1.96106571e-03 9.98504781e-01 -4.90190388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8353470699999996 meters 0.020776450132539457 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.21, Z:-0.00 [[ 9.97965054e-01 3.05563503e-02 -5.59648226e-02 -2.41421289e+00] [-3.06200443e-02 9.99531057e-01 -2.80765755e-04 2.09559373e-01] [ 5.59299991e-02 1.99383976e-03 9.98432702e-01 -4.58990461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8953470699999997 meters 0.018802892425452303 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.21, Z:-0.01 [[ 9.97909957e-01 3.09037599e-02 -5.67509946e-02 -2.47142672e+00] [-3.09683216e-02 9.99520333e-01 -2.58322885e-04 2.06647311e-01] [ 5.67157899e-02 2.01526603e-03 9.98388330e-01 -8.02363573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9553470699999997 meters 0.019904193751319237 Centerline is valid? [True, True] Translation: X:-2.53, Y:0.21, Z:-0.00 [[ 9.98045849e-01 3.31771840e-02 -5.29505245e-02 -2.53050031e+00] [-3.32361247e-02 9.99447500e-01 -2.32721088e-04 2.10932408e-01] [ 5.29135483e-02 1.99213655e-03 9.98597110e-01 -3.87670196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.01534707 meters 0.020751376608151784 Centerline is valid? [True, True] Translation: X:-2.59, Y:0.22, Z:-0.01 [[ 9.97804008e-01 3.48182480e-02 -5.63458224e-02 -2.58824918e+00] [-3.48860981e-02 9.99391270e-01 -2.20698402e-04 2.18525017e-01] [ 5.63038387e-02 2.18589964e-03 9.98411288e-01 -7.48884501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.07534707 meters 0.022230819227266274 Centerline is valid? [True, True] Translation: X:-2.65, Y:0.22, Z:-0.00 [[ 9.97798621e-01 3.87480612e-02 -5.38191425e-02 -2.64752489e+00] [-3.88152256e-02 9.99246385e-01 -2.02875025e-04 2.24080090e-01] [ 5.37707226e-02 2.29143058e-03 9.98550679e-01 -3.83550080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.13534707 meters 0.026633768160842734 Centerline is valid? [True, True] Translation: X:-2.71, Y:0.23, Z:-0.00 [[ 9.97595949e-01 4.11490227e-02 -5.57591275e-02 -2.70690638e+00] [-4.12246328e-02 9.99149882e-01 -2.05984474e-04 2.31497340e-01] [ 5.57032496e-02 2.50413883e-03 9.98444228e-01 -3.29105493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1953470699999995 meters 0.023356025597920688 Centerline is valid? [True, True] Translation: X:-2.77, Y:0.23, Z:0.00 [[ 9.97736655e-01 4.08959491e-02 -5.33768595e-02 -2.76555628e+00] [-4.09635303e-02 9.99160627e-01 -1.72238562e-04 2.28895488e-01] [ 5.33250126e-02 2.35835333e-03 9.98574424e-01 1.85876411e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2553470699999996 meters 0.023174306842331453 Centerline is valid? [True, True] Translation: X:-2.83, Y:0.23, Z:0.00 [[ 9.97924759e-01 3.83461167e-02 -5.17276597e-02 -2.82510110e+00] [-3.84059832e-02 9.99262205e-01 -1.63479604e-04 2.31300604e-01] [ 5.16832265e-02 2.14979197e-03 9.98661215e-01 4.73260621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3153470699999996 meters 0.023900319254554415 Centerline is valid? [True, True] Translation: X:-2.88, Y:0.23, Z:-0.00 [[ 9.97596119e-01 4.03404625e-02 -5.63438580e-02 -2.88276035e+00] [-4.04132410e-02 9.99183040e-01 -1.52394438e-04 2.33043969e-01] [ 5.62916797e-02 2.42906601e-03 9.98411411e-01 -3.06223521e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3753470699999997 meters 0.024134288590596516 Centerline is valid? [True, True] Translation: X:-2.94, Y:0.23, Z:0.00 [[ 9.97809207e-01 3.87174937e-02 -5.36445974e-02 -2.94221496e+00] [-3.87798053e-02 9.99247773e-01 -1.20747159e-04 2.32073439e-01] [ 5.35995694e-02 2.20080967e-03 9.98560085e-01 3.72072924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4353470699999997 meters 0.021284946917166193 Centerline is valid? [True, True] Translation: X:-3.00, Y:0.23, Z:0.01 [[ 9.98061596e-01 3.15859738e-02 -5.36225380e-02 -3.00148418e+00] [-3.16365030e-02 9.99499436e-01 -9.35378739e-05 2.27720492e-01] [ 5.35927420e-02 1.78978615e-03 9.98561272e-01 5.92873884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.49534707 meters 0.021919152005954096 Centerline is valid? [True, True] Translation: X:-3.06, Y:0.23, Z:0.01 [[ 9.98160774e-01 3.29219730e-02 -5.09039580e-02 -3.06138801e+00] [-3.29693647e-02 9.99456359e-01 -9.13758852e-05 2.31730101e-01] [ 5.08732762e-02 1.76947898e-03 9.98703549e-01 1.36639096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.55534707 meters 0.020322974813288177 Centerline is valid? [True, True] Translation: X:-3.12, Y:0.22, Z:0.01 [[ 9.98212970e-01 2.76795171e-02 -5.29595291e-02 -3.12130842e+00] [-2.77226976e-02 9.99615649e-01 -8.07773458e-05 2.24968528e-01] [ 5.29369382e-02 1.54881401e-03 9.98596656e-01 1.16367851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6153470699999994 meters 0.020184575281838982 Centerline is valid? [True, True] Translation: X:-3.18, Y:0.23, Z:0.02 [[ 9.98284800e-01 2.68810784e-02 -5.20083244e-02 -3.18069440e+00] [-2.69217394e-02 9.99637541e-01 -8.12978218e-05 2.29364512e-01] [ 5.19872881e-02 1.48131294e-03 9.98646648e-01 1.56275540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6753470699999995 meters 0.02083336388952093 Centerline is valid? [True, True] Translation: X:-3.24, Y:0.23, Z:0.01 [[ 9.98090791e-01 2.86487652e-02 -5.47176465e-02 -3.23837297e+00] [-2.86951004e-02 9.99588209e-01 -6.11780311e-05 2.33829511e-01] [ 5.46933616e-02 1.63118959e-03 9.98501866e-01 1.35570332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7353470699999995 meters 0.020987337575511997 Centerline is valid? [True, True] Translation: X:-3.30, Y:0.24, Z:0.02 [[ 9.98303656e-01 2.55247866e-02 -5.23287331e-02 -3.29781475e+00] [-2.55616587e-02 9.99673247e-01 -3.53734002e-05 2.37995351e-01] [ 5.23107316e-02 1.37292261e-03 9.98629913e-01 2.34045960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7953470699999996 meters 0.020384316210854826 Centerline is valid? [True, True] Translation: X:-3.36, Y:0.24, Z:0.02 [[ 9.98175016e-01 1.99386680e-02 -5.70007613e-02 -3.35736640e+00] [-1.99717176e-02 9.99800545e-01 -1.01465994e-05 2.37084441e-01] [ 5.69891899e-02 1.14853119e-03 9.98374135e-01 2.07907449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8553470699999997 meters 0.02118311281139783 Centerline is valid? [True, True] Translation: X:-3.42, Y:0.23, Z:0.03 [[ 9.98292920e-01 -2.53800777e-02 -5.26032152e-02 -3.41568570e+00] [ 2.54148578e-02 9.99676990e-01 -7.73909384e-06 2.28477098e-01] [ 5.25864202e-02 -1.32917735e-03 9.98615492e-01 2.79078260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9153470699999997 meters 0.02082616289124283 Centerline is valid? [True, True] Translation: X:-3.47, Y:0.23, Z:0.02 [[ 9.98278289e-01 -2.18715821e-02 -5.44251068e-02 -3.47405737e+00] [ 2.19039054e-02 9.99760081e-01 -2.59856207e-06 2.33260306e-01] [ 5.44121060e-02 -1.18952831e-03 9.98517855e-01 2.43263730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9753470699999998 meters 0.018861668597277045 Centerline is valid? [True, True] Translation: X:-3.53, Y:0.25, Z:0.02 [[ 9.98439296e-01 -6.10007724e-03 -5.55136079e-02 -3.53390525e+00] [ 6.11082254e-03 9.99981328e-01 2.38142851e-05 2.52963432e-01] [ 5.55124261e-02 -3.63010924e-04 9.98457930e-01 2.37416806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.035347069999999 meters 0.021313518839044296 Centerline is valid? [True, True] Translation: X:-3.59, Y:0.29, Z:0.03 [[ 9.97963591e-01 2.60754722e-02 -5.82128974e-02 -3.59338352e+00] [-2.61176420e-02 9.99658876e-01 3.64418109e-05 2.93183422e-01] [ 5.81939898e-02 1.48401602e-03 9.98304191e-01 2.78839258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.09534707 meters 0.03916198648555332 Centerline is valid? [True, True] Translation: X:-3.65, Y:0.36, Z:0.03 [[ 9.95594233e-01 7.05671325e-02 -6.17446668e-02 -3.65392233e+00] [-7.06993910e-02 9.97497666e-01 4.28218391e-05 3.61998781e-01] [ 6.15931829e-02 4.32267717e-03 9.98091977e-01 3.02152357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1553470699999995 meters 0.04598486859698156 Centerline is valid? [True, True] Translation: X:-3.71, Y:0.40, Z:0.03 [[ 9.92945998e-01 9.91758300e-02 -6.49799880e-02 -3.71366987e+00] [-9.93828865e-02 9.95049265e-01 4.61273800e-05 3.99736498e-01] [ 6.46628640e-02 6.41209677e-03 9.97886566e-01 3.14940184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.21534707 meters 0.04684927626449729 Centerline is valid? [True, True] Translation: X:-3.77, Y:0.42, Z:0.03 [[ 9.91977064e-01 1.07093784e-01 -6.71745973e-02 -3.77437483e+00] [-1.07333004e-01 9.94223126e-01 4.82202495e-05 4.20949058e-01] [ 6.67917022e-02 7.16221792e-03 9.97741235e-01 3.22209554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.27534707 meters 0.043822193669195195 Centerline is valid? [True, True] Translation: X:-3.84, Y:0.42, Z:0.03 [[ 9.93399395e-01 9.19952344e-02 -6.85165611e-02 -3.83510500e+00] [-9.22085104e-02 9.95739719e-01 5.00668112e-05 4.24268035e-01] [ 6.82292672e-02 6.26807370e-03 9.97649978e-01 3.17205468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.33534707 meters 0.03184716354878071 Centerline is valid? [True, True] Translation: X:-3.89, Y:0.40, Z:0.03 [[ 9.95520139e-01 6.57255294e-02 -6.79691606e-02 -3.89425664e+00] [-6.58744588e-02 9.97827918e-01 5.02836039e-05 4.01663888e-01] [ 6.78248309e-02 4.42737333e-03 9.97687421e-01 2.86033148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.39534707 meters 0.022869278686005655 Centerline is valid? [True, True] Translation: X:-3.95, Y:0.38, Z:0.03 [[ 9.97178309e-01 3.26669084e-02 -6.75891550e-02 -3.95452296e+00] [-3.27384206e-02 9.99463953e-01 4.96313417e-05 3.81584598e-01] [ 6.75545454e-02 2.16327088e-03 9.97713237e-01 2.63103371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455347069999999 meters 0.020657961935008035 Centerline is valid? [True, True] Translation: X:-4.01, Y:0.38, Z:0.03 [[ 9.97433796e-01 2.60312477e-02 -6.66948037e-02 -4.01397651e+00] [-2.60859554e-02 9.99659702e-01 5.06159920e-05 3.82393846e-01] [ 6.66734252e-02 1.68931157e-03 9.97773421e-01 2.61167621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51534707 meters 0.02510467772512399 Centerline is valid? [True, True] Translation: X:-4.07, Y:0.41, Z:0.03 [[ 9.96695257e-01 4.43404977e-02 -6.80623599e-02 -4.07293804e+00] [-4.44396669e-02 9.99012068e-01 5.71107800e-05 4.09822247e-01] [ 6.79976512e-02 2.96774656e-03 9.97681067e-01 2.92720599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575347069999999 meters 0.03429496701971996 Centerline is valid? [True, True] Translation: X:-4.13, Y:0.45, Z:0.03 [[ 9.95370785e-01 6.75600409e-02 -6.83567221e-02 -4.13300502e+00] [-6.77141776e-02 9.97704759e-01 6.23238875e-05 4.45407868e-01] [ 6.82040375e-02 4.56668384e-03 9.97660942e-01 3.05770213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.63534707 meters 0.0424187032536552 Centerline is valid? [True, True] Translation: X:-4.19, Y:0.48, Z:0.03 [[ 9.93359076e-01 9.05165024e-02 -7.10247106e-02 -4.19355158e+00] [-9.07409117e-02 9.95874531e-01 6.71767671e-05 4.84060493e-01] [ 7.07377810e-02 6.37811635e-03 9.97474554e-01 3.17170599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6953470699999995 meters 0.04401601559553337 Centerline is valid? [True, True] Translation: X:-4.25, Y:0.50, Z:0.03 [[ 9.93190259e-01 9.21193549e-02 -7.13241505e-02 -4.25266582e+00] [-9.23497091e-02 9.95726632e-01 6.81890006e-05 5.01983419e-01] [ 7.10256377e-02 6.51903990e-03 9.97453187e-01 3.16811026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.75534707 meters 0.04359654595290822 Centerline is valid? [True, True] Translation: X:-4.31, Y:0.51, Z:0.03 [[ 9.93917154e-01 8.18618056e-02 -7.36704540e-02 -4.31265034e+00] [-8.20791164e-02 9.96625814e-01 7.80076255e-05 5.12866764e-01] [ 7.34282620e-02 5.96927265e-03 9.97282637e-01 2.91295159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.81534707 meters 0.04270908908940487 Centerline is valid? [True, True] Translation: X:-4.37, Y:0.51, Z:0.03 [[ 9.94044959e-01 8.00171625e-02 -7.39721129e-02 -4.37193875e+00] [-8.02311468e-02 9.96776282e-01 7.89868270e-05 5.14401235e-01] [ 7.37399680e-02 5.85635099e-03 9.97260307e-01 2.81664681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.875347069999999 meters 0.038596253815461064 Centerline is valid? [True, True] Translation: X:-4.43, Y:0.52, Z:0.03 [[ 9.94300419e-01 7.22496548e-02 -7.84006661e-02 -4.43261723e+00] [-7.24657424e-02 9.97370898e-01 8.90943389e-05 5.22896308e-01] [ 7.82009798e-02 5.59277594e-03 9.96921927e-01 2.66218658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.93534707 meters 0.039027536085068794 Centerline is valid? [True, True] Translation: X:-4.49, Y:0.54, Z:0.02 [[ 9.94061113e-01 7.03812874e-02 -8.29998626e-02 -4.49127663e+00] [-7.06165634e-02 9.97503529e-01 1.01239381e-04 5.38414461e-01] [ 8.27997813e-02 5.76052693e-03 9.96549553e-01 2.22745436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995347069999999 meters 0.034101144951383125 Centerline is valid? [True, True] Translation: X:-4.55, Y:0.54, Z:0.02 [[ 9.93909481e-01 6.87542806e-02 -8.61208073e-02 -4.54868452e+00] [-6.89991581e-02 9.97616709e-01 1.33553730e-04 5.44786256e-01] [ 8.59247387e-02 5.80952288e-03 9.96284693e-01 2.41677205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.05534707 meters 0.03618121286421369 Centerline is valid? [True, True] Translation: X:-4.61, Y:0.56, Z:0.02 [[ 9.93686670e-01 6.68271207e-02 -9.01162512e-02 -4.60689219e+00] [-6.70852424e-02 9.97747234e-01 1.64940523e-04 5.61391513e-01] [ 8.99242629e-02 5.88157135e-03 9.95931240e-01 1.56545019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115347069999999 meters 0.028902932062227923 Centerline is valid? [True, True] Translation: X:-4.67, Y:0.55, Z:0.02 [[ 9.94028225e-01 6.28739139e-02 -8.91894521e-02 -4.66665807e+00] [-6.31086052e-02 9.98006647e-01 1.88915094e-04 5.53730229e-01] [ 8.90235439e-02 5.44083498e-03 9.96014662e-01 2.16565581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.17534707 meters 0.03140995197012934 Centerline is valid? [True, True] Translation: X:-4.73, Y:0.57, Z:0.00 [[ 9.93813031e-01 5.21411815e-02 -9.80660842e-02 -4.72522889e+00] [-5.23727560e-02 9.98627583e-01 2.13066794e-04 5.73594386e-01] [ 9.79426062e-02 4.92424255e-03 9.95179882e-01 1.61737113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2353470699999995 meters 0.027681198271034036 Centerline is valid? [True, True] Translation: X:-4.78, Y:0.58, Z:-0.01 [[ 9.93320524e-01 4.07541115e-02 -1.07951093e-01 -4.78409208e+00] [-4.09676920e-02 9.99160443e-01 2.39430302e-04 5.80799301e-01] [ 1.07870220e-01 4.18467609e-03 9.94156177e-01 -1.06831981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.295347069999999 meters 0.023623485491517753 Centerline is valid? [True, True] Translation: X:-4.84, Y:0.58, Z:-0.02 [[ 9.93519885e-01 3.00566199e-02 -1.09612215e-01 -4.84331150e+00] [-3.02115553e-02 9.99543496e-01 2.47399594e-04 5.78910049e-01] [ 1.09569612e-01 3.06575907e-03 9.93974397e-01 -1.71114797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.35534707 meters 0.021925554541189926 Centerline is valid? [True, True] Translation: X:-4.90, Y:0.58, Z:-0.03 [[ 9.93325036e-01 2.06729399e-02 -1.13481284e-01 -4.90143393e+00] [-2.07760498e-02 9.99784117e-01 2.74111734e-04 5.77089729e-01] [ 1.13462452e-01 2.08541075e-03 9.93540096e-01 -2.67632190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415347069999999 meters 0.02227132233457596 Centerline is valid? [True, True] Translation: X:-4.96, Y:0.58, Z:-0.04 [[ 9.93157250e-01 1.50981113e-02 -1.15804683e-01 -4.95970575e+00] [-1.51632268e-02 9.99884981e-01 3.18692933e-04 5.77117884e-01] [ 1.15796175e-01 1.43946048e-03 9.93271954e-01 -4.27850143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.47534707 meters 0.021212012226453077 Centerline is valid? [True, True] Translation: X:-5.02, Y:0.58, Z:-0.05 [[ 9.92987467e-01 1.06794007e-02 -1.17736315e-01 -5.01735119e+00] [-1.07112308e-02 9.99942567e-01 3.62415527e-04 5.77995745e-01] [ 1.17733423e-01 9.01226759e-04 9.93044827e-01 -5.22159353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535347069999999 meters 0.020802147083712523 Centerline is valid? [True, True] Translation: X:-5.08, Y:0.58, Z:-0.07 [[ 9.92520727e-01 3.06741948e-03 -1.22037687e-01 -5.07681028e+00] [-3.04142995e-03 9.99995295e-01 3.99243727e-04 5.81118378e-01] [ 1.22038337e-01 -2.50885996e-05 9.92525387e-01 -6.69352756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.59534707 meters 0.019591119340933695 Centerline is valid? [True, True] Translation: X:-5.13, Y:0.58, Z:-0.08 [[ 9.92273265e-01 -1.93763911e-03 -1.24056489e-01 -5.13448840e+00] [ 2.00433255e-03 9.99997906e-01 4.12800238e-04 5.83230707e-01] [ 1.24055429e-01 -6.58261098e-04 9.92275071e-01 -7.57119023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6553470699999995 meters 0.019510493463141855 Centerline is valid? [True, True] Translation: X:-5.19, Y:0.58, Z:-0.09 [[ 9.91796550e-01 -8.62489847e-03 -1.27535147e-01 -5.19328676e+00] [ 8.75164247e-03 9.99961610e-01 4.33460554e-04 5.82910220e-01] [ 1.27526513e-01 -1.54604669e-03 9.91833957e-01 -9.01634620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.71534707 meters 0.021826913783187487 Centerline is valid? [True, True] Translation: X:-5.25, Y:0.58, Z:-0.11 [[ 9.91277738e-01 -1.41486926e-02 -1.31027712e-01 -5.25222688e+00] [ 1.43311691e-02 9.99897202e-01 4.49757548e-04 5.78443940e-01] [ 1.31007879e-01 -2.32361494e-03 9.91378604e-01 -1.08598939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.77534707 meters 0.02032565022887186 Centerline is valid? [True, True] Translation: X:-5.31, Y:0.59, Z:-0.11 [[ 9.91190355e-01 -1.25568199e-02 -1.31848419e-01 -5.30975251e+00] [ 1.27287676e-02 9.99918880e-01 4.61365649e-04 5.88219012e-01] [ 1.31831930e-01 -2.13556906e-03 9.91269782e-01 -1.10831347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.835347069999999 meters 0.018857472941456406 Centerline is valid? [True, True] Translation: X:-5.37, Y:0.61, Z:-0.12 [[ 9.91067413e-01 -8.03223433e-04 -1.33359428e-01 -5.36730891e+00] [ 8.77212120e-04 9.99999492e-01 4.96052830e-04 6.08701366e-01] [ 1.33358962e-01 -6.08606302e-04 9.91067615e-01 -1.24362023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.89534707 meters 0.01804001221641294 Centerline is valid? [True, True] Translation: X:-5.43, Y:0.63, Z:-0.13 [[ 9.90710824e-01 5.77238891e-03 -1.35862955e-01 -5.42557750e+00] [-5.75347647e-03 9.99983307e-01 5.31867868e-04 6.28290161e-01] [ 1.35863757e-01 2.54757062e-04 9.90727498e-01 -1.30014187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955347069999999 meters 0.018897600110212923 Centerline is valid? [True, True] Translation: X:-5.48, Y:0.65, Z:-0.15 [[ 9.90580945e-01 1.12851338e-02 -1.36462588e-01 -5.48297452e+00] [-1.13141993e-02 9.99935834e-01 5.62641370e-04 6.46087976e-01] [ 1.36460181e-01 9.86623092e-04 9.90645065e-01 -1.46499698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.01534707 meters 0.019304777138292303 Centerline is valid? [True, True] Translation: X:-5.54, Y:0.65, Z:-0.16 [[ 9.90380643e-01 6.55399811e-03 -1.38214422e-01 -5.54084000e+00] [-6.53397468e-03 9.99978474e-01 5.98598733e-04 6.54265377e-01] [ 1.38215370e-01 3.10248936e-04 9.90402148e-01 -1.59637419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075347069999999 meters 0.019876620515028 Centerline is valid? [True, True] Translation: X:-5.60, Y:0.65, Z:-0.17 [[ 9.90246693e-01 -2.68782138e-03 -1.39299186e-01 -5.59834976e+00] [ 2.80110641e-03 9.99995886e-01 6.17204180e-04 6.53025752e-01] [ 1.39296954e-01 -1.00137624e-03 9.90250148e-01 -1.66212676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.13534707 meters 0.018434869414809468 Centerline is valid? [True, True] Translation: X:-5.66, Y:0.67, Z:-0.17 [[ 9.90247281e-01 2.55483180e-03 -1.39297508e-01 -5.65563009e+00] [-2.49096281e-03 9.99996697e-01 6.32848470e-04 6.73170538e-01] [ 1.39298665e-01 -2.79691565e-04 9.90250374e-01 -1.69829279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1953470699999995 meters 0.019692793507161858 Centerline is valid? [True, True] Translation: X:-5.71, Y:0.70, Z:-0.19 [[ 9.89909083e-01 7.21416506e-03 -1.41520187e-01 -5.71428428e+00] [-7.19424652e-03 9.99973908e-01 6.52393567e-04 6.96810837e-01] [ 1.41521201e-01 3.72320794e-04 9.89935155e-01 -1.93689145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.25534707 meters 0.022193346524154434 Centerline is valid? [True, True] Translation: X:-5.77, Y:0.71, Z:-0.20 [[ 9.89863286e-01 9.06248342e-03 -1.41734069e-01 -5.77227734e+00] [-9.05783816e-03 9.99958747e-01 6.77946531e-04 7.13276713e-01] [ 1.41734366e-01 6.12729876e-04 9.89904538e-01 -2.00883162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.31534707 meters 0.01952812880751536 Centerline is valid? [True, True] Translation: X:-5.83, Y:0.73, Z:-0.21 [[ 9.89820890e-01 5.19619609e-03 -1.42223787e-01 -5.82959598e+00] [-5.14715644e-03 9.99986499e-01 7.12700555e-04 7.26153706e-01] [ 1.42225570e-01 2.66021834e-05 9.89834272e-01 -2.08813896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.375347069999999 meters 0.020115204695389074 Centerline is valid? [True, True] Translation: X:-5.89, Y:0.74, Z:-0.22 [[ 9.89539318e-01 7.57002825e-03 -1.44064680e-01 -5.88816897e+00] [-7.54263976e-03 9.99971283e-01 7.36282119e-04 7.43180778e-01] [ 1.44066116e-01 3.58047875e-04 9.89568000e-01 -2.22711237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.43534707 meters 0.01968772601972721 Centerline is valid? [True, True] Translation: X:-5.95, Y:0.77, Z:-0.23 [[ 9.88965061e-01 2.05634700e-02 -1.46714865e-01 -5.94750223e+00] [-2.06763726e-02 9.99785935e-01 7.55601551e-04 7.69497984e-01] [ 1.46698997e-01 2.28626769e-03 9.89178537e-01 -2.26350384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495347069999999 meters 0.02379286453870102 Centerline is valid? [True, True] Translation: X:-6.01, Y:0.79, Z:-0.24 [[ 9.88378689e-01 3.29655270e-02 -1.48394206e-01 -6.00667763e+00] [-3.32194142e-02 9.99447788e-01 7.67967826e-04 7.93033042e-01] [ 1.48337578e-01 4.17052556e-03 9.88927990e-01 -2.42986497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.55534707 meters 0.02208458528648657 Centerline is valid? [True, True] Translation: X:-6.07, Y:0.79, Z:-0.24 [[ 9.88489263e-01 3.47605118e-02 -1.47243621e-01 -6.06520927e+00] [-3.50286513e-02 9.99386010e-01 7.72349070e-04 7.90982357e-01] [ 1.47180062e-01 4.39428670e-03 9.89099954e-01 -2.35269824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615347069999999 meters 0.022856460250279938 Centerline is valid? [True, True] Translation: X:-6.12, Y:0.79, Z:-0.24 [[ 9.88580580e-01 3.66458795e-02 -1.46169475e-01 -6.12322320e+00] [-3.69256257e-02 9.99317696e-01 7.99889298e-04 7.88035132e-01] [ 1.46099056e-01 4.60664431e-03 9.89259240e-01 -2.41987288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.67534707 meters 0.023120622504037583 Centerline is valid? [True, True] Translation: X:-6.18, Y:0.78, Z:-0.25 [[ 9.88338959e-01 3.83364403e-02 -1.47364920e-01 -6.18150735e+00] [-3.86355576e-02 9.99253021e-01 8.33149638e-04 7.79533367e-01] [ 1.47286781e-01 4.87009160e-03 9.89081840e-01 -2.46317733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7353470699999995 meters 0.02300602105832739 Centerline is valid? [True, True] Translation: X:-6.24, Y:0.78, Z:-0.25 [[ 9.88249907e-01 3.97037212e-02 -1.47599915e-01 -6.23970973e+00] [-4.00142641e-02 9.99198733e-01 8.65956857e-04 7.75630961e-01] [ 1.47516030e-01 5.05032021e-03 9.89046771e-01 -2.47880578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.795347069999999 meters 0.026465132263384848 Centerline is valid? [True, True] Translation: X:-6.30, Y:0.77, Z:-0.26 [[ 9.87730564e-01 4.45908420e-02 -1.49666264e-01 -6.29907331e+00] [-4.49625942e-02 9.98988265e-01 9.00666762e-04 7.67951841e-01] [ 1.49555003e-01 5.83976742e-03 9.88736162e-01 -2.63442417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.85534707 meters 0.029945006424678056 Centerline is valid? [True, True] Translation: X:-6.36, Y:0.76, Z:-0.28 [[ 9.88251999e-01 4.57997488e-02 -1.45809358e-01 -6.35889513e+00] [-4.61652290e-02 9.98933432e-01 8.77998646e-04 7.59658048e-01] [ 1.45694055e-01 5.86363850e-03 9.89312317e-01 -2.76303439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915347069999999 meters 0.03002473366199728 Centerline is valid? [True, True] Translation: X:-6.42, Y:0.73, Z:-0.29 [[ 9.88078109e-01 4.39775531e-02 -1.47538553e-01 -6.41677490e+00] [-4.43281527e-02 9.99016608e-01 9.12497114e-04 7.33944621e-01] [ 1.47433594e-01 5.63849307e-03 9.89055885e-01 -2.89390248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.97534707 meters 0.026704474869733166 Centerline is valid? [True, True] Translation: X:-6.48, Y:0.70, Z:-0.30 [[ 9.88745407e-01 3.42892378e-02 -1.45625440e-01 -6.47616686e+00] [-3.45232443e-02 9.99403471e-01 9.20746072e-04 7.03221853e-01] [ 1.45570142e-01 4.11707920e-03 9.89339367e-01 -3.01336292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035347069999999 meters 0.02476950141277425 Centerline is valid? [True, True] Translation: X:-6.53, Y:0.68, Z:-0.31 [[ 9.88740243e-01 2.56225202e-02 -1.47432083e-01 -6.53417411e+00] [-2.57629837e-02 9.99667621e-01 9.57085176e-04 6.77601510e-01] [ 1.47407602e-01 2.85198171e-03 9.89071719e-01 -3.10362061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.09534707 meters 0.025082956695651904 Centerline is valid? [True, True] Translation: X:-6.59, Y:0.68, Z:-0.31 [[ 9.89951995e-01 3.58126375e-02 -1.36793649e-01 -6.59452852e+00] [-3.60272419e-02 9.99350396e-01 9.07450575e-04 6.75535937e-01] [ 1.36737285e-01 4.02996537e-03 9.90599149e-01 -3.06204689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1553470699999995 meters 0.01967465078924828 Centerline is valid? [True, True] Translation: X:-6.65, Y:0.64, Z:-0.32 [[ 9.90347639e-01 8.88204168e-03 -1.38320872e-01 -6.65354738e+00] [-8.83978575e-03 9.99960505e-01 9.19817315e-04 6.40765157e-01] [ 1.38323579e-01 3.11787966e-04 9.90387041e-01 -3.23474856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215347069999999 meters 0.03366634487983125 Centerline is valid? [True, True] Translation: X:-6.71, Y:0.59, Z:-0.34 [[ 9.89281319e-01 -3.98030136e-02 -1.40492677e-01 -6.71227780e+00] [ 4.03345491e-02 9.99185792e-01 9.36776909e-04 5.89036016e-01] [ 1.40341000e-01 -6.59344467e-03 9.90081275e-01 -3.38716290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.27534707 meters 0.043982641103387995 Centerline is valid? [True, True] Translation: X:-6.77, Y:0.57, Z:-0.35 [[ 9.88444517e-01 -6.57304277e-02 -1.36590435e-01 -6.77134149e+00] [ 6.64781372e-02 9.97787463e-01 9.14804074e-04 5.72131322e-01] [ 1.36228093e-01 -9.98451072e-03 9.90627183e-01 -3.46327214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.335347069999999 meters 0.04441718830533968 Centerline is valid? [True, True] Translation: X:-6.83, Y:0.59, Z:-0.36 [[ 9.88499946e-01 -6.19171742e-02 -1.37964202e-01 -6.82938275e+00] [ 6.26447460e-02 9.98035452e-01 9.33525808e-04 5.85333806e-01] [ 1.37635363e-01 -9.56552259e-03 9.90436776e-01 -3.63806447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.39534707 meters 0.03620824120142174 Centerline is valid? [True, True] Translation: X:-6.89, Y:0.62, Z:-0.37 [[ 9.89727554e-01 -4.46637678e-02 -1.35810594e-01 -6.88904950e+00] [ 4.52081874e-02 9.98977158e-01 9.25589431e-04 6.18034862e-01] [ 1.35630341e-01 -7.05583217e-03 9.90734387e-01 -3.72685329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455347069999999 meters 0.029221320419348842 Centerline is valid? [True, True] Translation: X:-6.95, Y:0.65, Z:-0.38 [[ 9.90067554e-01 -2.93449120e-02 -1.37495868e-01 -6.94897514e+00] [ 2.97563185e-02 9.99556743e-01 9.37197591e-04 6.47971804e-01] [ 1.37407420e-01 -5.01925978e-03 9.90501897e-01 -3.82732414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.51534707 meters 0.02402646565586575 Centerline is valid? [True, True] Translation: X:-7.01, Y:0.67, Z:-0.39 [[ 9.90583246e-01 -1.81935636e-02 -1.35697560e-01 -7.00815400e+00] [ 1.84903062e-02 9.99828610e-01 9.26635250e-04 6.67281495e-01] [ 1.35657444e-01 -3.42699880e-03 9.90749874e-01 -3.86939722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575347069999999 meters 0.02611966833614507 Centerline is valid? [True, True] Translation: X:-7.07, Y:0.67, Z:-0.41 [[ 9.90432335e-01 -1.93612186e-02 -1.36634304e-01 -7.06570892e+00] [ 1.96743185e-02 9.99805999e-01 9.41335572e-04 6.71067793e-01] [ 1.36589572e-01 -3.62051601e-03 9.90621109e-01 -4.07423232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.63534707 meters 0.026642373533393538 Centerline is valid? [True, True] Translation: X:-7.12, Y:0.67, Z:-0.41 [[ 9.90981107e-01 -2.26134354e-02 -1.32079817e-01 -7.12473239e+00] [ 2.29356936e-02 9.99736520e-01 9.18851724e-04 6.67063674e-01] [ 1.32024238e-01 -3.93990690e-03 9.91238658e-01 -4.09620904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6953470699999995 meters 0.029043414056362335 Centerline is valid? [True, True] Translation: X:-7.18, Y:0.66, Z:-0.42 [[ 9.90830119e-01 -2.94027677e-02 -1.31875521e-01 -7.18438244e+00] [ 2.97846989e-02 9.99555910e-01 9.24102597e-04 6.61300611e-01] [ 1.31789785e-01 -4.84350137e-03 9.91265854e-01 -4.19339421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755347069999999 meters 0.03082766337002002 Centerline is valid? [True, True] Translation: X:-7.24, Y:0.66, Z:-0.43 [[ 9.91089448e-01 -2.86737706e-02 -1.30075057e-01 -7.24272985e+00] [ 2.90400438e-02 9.99577826e-01 9.19589734e-04 6.57189787e-01] [ 1.29993774e-01 -4.68878102e-03 9.91503724e-01 -4.33814495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.81534707 meters 0.024782254231853026 Centerline is valid? [True, True] Translation: X:-7.30, Y:0.67, Z:-0.43 [[ 9.91759177e-01 -1.95763047e-02 -1.26611620e-01 -7.30232534e+00] [ 1.98498251e-02 9.99802569e-01 8.98862914e-04 6.70979440e-01] [ 1.26569026e-01 -3.40467406e-03 9.91951959e-01 -4.28563942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.875347069999999 meters 0.021046252206891478 Centerline is valid? [True, True] Translation: X:-7.36, Y:0.68, Z:-0.43 [[ 9.91601222e-01 -1.00854277e-02 -1.28939136e-01 -7.35968101e+00] [ 1.02908239e-02 9.99946619e-01 9.26826826e-04 6.84842879e-01] [ 1.28922906e-01 -2.24593255e-03 9.91652076e-01 -4.33951186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.93534707 meters 0.02029201968942159 Centerline is valid? [True, True] Translation: X:-7.42, Y:0.69, Z:-0.44 [[ 9.92420594e-01 -2.94234486e-03 -1.22852380e-01 -7.41987603e+00] [ 3.07563027e-03 9.99994869e-01 8.95294487e-04 6.91695015e-01] [ 1.22849115e-01 -1.26635719e-03 9.92424552e-01 -4.41787107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995347069999999 meters 0.01990360528412363 Centerline is valid? [True, True] Translation: X:-7.48, Y:0.69, Z:-0.45 [[ 9.92844235e-01 -4.24532793e-04 -1.19415847e-01 -7.47913501e+00] [ 5.32765747e-04 9.99999476e-01 8.74430256e-04 6.93394064e-01] [ 1.19415414e-01 -9.31793711e-04 9.92843941e-01 -4.45687088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.05534707 meters 0.021208062054765404 Centerline is valid? [True, True] Translation: X:-7.54, Y:0.69, Z:-0.46 [[ 9.93051785e-01 -1.69169557e-03 -1.17666014e-01 -7.53725316e+00] [ 1.80827789e-03 9.99997974e-01 8.84039779e-04 6.90009264e-01] [ 1.17664280e-01 -1.09067013e-03 9.93052832e-01 -4.55643400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.11534707 meters 0.02047200281754886 Centerline is valid? [True, True] Translation: X:-7.60, Y:0.69, Z:-0.46 [[ 9.93465564e-01 4.80214123e-04 -1.14131251e-01 -7.59631761e+00] [-3.81984575e-04 9.99999538e-01 8.82539875e-04 6.88573038e-01] [ 1.14131622e-01 -8.33176597e-04 9.93465288e-01 -4.61125145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.17534707 meters 0.019874999179899423 Centerline is valid? [True, True] Translation: X:-7.66, Y:0.69, Z:-0.46 [[ 9.93543116e-01 3.52054587e-03 -1.13400539e-01 -7.65506608e+00] [-3.44103151e-03 9.99993677e-01 8.96913230e-04 6.91402345e-01] [ 1.13402980e-01 -5.00907136e-04 9.93548949e-01 -4.64524119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.23534707 meters 0.020206950030120616 Centerline is valid? [True, True] Translation: X:-7.71, Y:0.70, Z:-0.47 [[ 9.93939406e-01 1.18304499e-02 -1.09290884e-01 -7.71429866e+00] [-1.18042203e-02 9.99929934e-01 8.87001704e-04 6.99837844e-01] [ 1.09293720e-01 4.08467727e-04 9.94009414e-01 -4.69934120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.29534707 meters 0.02030971809137429 Centerline is valid? [True, True] Translation: X:-7.77, Y:0.71, Z:-0.47 [[ 9.93994748e-01 2.20314526e-02 -1.07187015e-01 -7.77142181e+00] [-2.20642616e-02 9.99756167e-01 8.79961341e-04 7.10444442e-01] [ 1.07180266e-01 1.49032539e-03 9.94238487e-01 -4.72606384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.35534707 meters 0.021599790698960793 Centerline is valid? [True, True] Translation: X:-7.83, Y:0.71, Z:-0.48 [[ 9.94366453e-01 2.59780962e-02 -1.02764268e-01 -7.82966003e+00] [-2.60268331e-02 9.99660869e-01 8.66803757e-04 7.13419213e-01] [ 1.02751935e-01 1.81270788e-03 9.94705360e-01 -4.78154114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415347070000001 meters 0.021111018162732188 Centerline is valid? [True, True] Translation: X:-7.89, Y:0.71, Z:-0.49 [[ 9.94725496e-01 2.22027029e-02 -1.00141039e-01 -7.88897679e+00] [-2.22275181e-02 9.99752561e-01 8.68076753e-04 7.08128707e-01] [ 1.00135534e-01 1.36238868e-03 9.94972873e-01 -4.88709823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.47534707 meters 0.020272020144332676 Centerline is valid? [True, True] Translation: X:-7.95, Y:0.70, Z:-0.50 [[ 9.95275155e-01 1.25762163e-02 -9.62767068e-02 -7.94913835e+00] [-1.25538931e-02 9.99920846e-01 8.37616303e-04 6.97392241e-01] [ 9.62796202e-02 3.74988788e-04 9.95354256e-01 -4.95561880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.53534707 meters 0.020097651649496086 Centerline is valid? [True, True] Translation: X:-8.01, Y:0.69, Z:-0.50 [[ 9.95506811e-01 8.30113521e-03 -9.43254000e-02 -8.00677367e+00] [-8.26024340e-03 9.99965544e-01 8.23962877e-04 6.92679841e-01] [ 9.43289898e-02 -4.11098929e-05 9.95541079e-01 -4.98789637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.59534707 meters 0.019692877883927134 Centerline is valid? [True, True] Translation: X:-8.06, Y:0.69, Z:-0.50 [[ 9.95582921e-01 8.71317741e-03 -9.34811588e-02 -8.06386668e+00] [-8.67373154e-03 9.99962039e-01 8.28270290e-04 6.94135490e-01] [ 9.34848271e-02 -1.37812791e-05 9.95620704e-01 -5.03187833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655347070000001 meters 0.01936589981087105 Centerline is valid? [True, True] Translation: X:-8.12, Y:0.70, Z:-0.51 [[ 9.95686725e-01 1.30279088e-02 -9.18597855e-02 -8.12214871e+00] [-1.30064099e-02 9.99915066e-01 8.32710514e-04 7.04172044e-01] [ 9.18628320e-02 3.65647217e-04 9.95771604e-01 -5.12392604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.71534707 meters 0.01888007044989295 Centerline is valid? [True, True] Translation: X:-8.18, Y:0.72, Z:-0.52 [[ 9.95886632e-01 1.82645400e-02 -8.87480842e-02 -8.18017071e+00] [-1.82625153e-02 9.99832878e-01 8.34866259e-04 7.19463450e-01] [ 8.87485009e-02 7.89331096e-04 9.96053754e-01 -5.21197757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.77534707 meters 0.022359004275634094 Centerline is valid? [True, True] Translation: X:-8.24, Y:0.73, Z:-0.52 [[ 9.96065204e-01 2.03904300e-02 -8.62458065e-02 -8.23825708e+00] [-2.03939609e-02 9.99791668e-01 8.40240260e-04 7.30127832e-01] [ 8.62449717e-02 9.21959521e-04 9.96273534e-01 -5.23641120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835347070000001 meters 0.02243366360331241 Centerline is valid? [True, True] Translation: X:-8.30, Y:0.73, Z:-0.53 [[ 9.96129890e-01 1.58177451e-02 -8.64583235e-02 -8.29658795e+00] [-1.58016181e-02 9.99874767e-01 8.70941056e-04 7.30698240e-01] [ 8.64612724e-02 4.98610988e-04 9.96255088e-01 -5.27341690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.89534707 meters 0.020510206794815106 Centerline is valid? [True, True] Translation: X:-8.36, Y:0.73, Z:-0.53 [[ 9.96315648e-01 1.32506295e-02 -8.47322298e-02 -8.35557233e+00] [-1.32235806e-02 9.99912177e-01 8.80486271e-04 7.32493559e-01] [ 8.47364554e-02 2.43221219e-04 9.96403369e-01 -5.30502132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.95534707 meters 0.024168865428273584 Centerline is valid? [True, True] Translation: X:-8.41, Y:0.74, Z:-0.53 [[ 9.96297584e-01 1.16850489e-02 -8.51738407e-02 -8.41382023e+00] [-1.16500337e-02 9.99931724e-01 9.08150059e-04 7.37102756e-01] [ 8.51786372e-02 8.74904037e-05 9.96365692e-01 -5.28941824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.01534707 meters 0.019857883468547628 Centerline is valid? [True, True] Translation: X:-8.47, Y:0.74, Z:-0.54 [[ 9.96163678e-01 9.17320249e-03 -8.70274636e-02 -8.47158132e+00] [-9.12583661e-03 9.99957915e-01 9.42110383e-04 7.41264572e-01] [ 8.70324432e-02 -1.44297730e-04 9.96205467e-01 -5.37110185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075347070000001 meters 0.018881804384054554 Centerline is valid? [True, True] Translation: X:-8.53, Y:0.75, Z:-0.54 [[ 9.96050639e-01 7.76580199e-03 -8.84466840e-02 -8.52892580e+00] [-7.70923084e-03 9.99969802e-01 9.81191999e-04 7.49310888e-01] [ 8.84516328e-02 -2.95461015e-04 9.96080429e-01 -5.40680755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.13534707 meters 0.018294300106671258 Centerline is valid? [True, True] Translation: X:-8.59, Y:0.75, Z:-0.55 [[ 9.95804882e-01 6.44011767e-03 -9.12751951e-02 -8.58716708e+00] [-6.37283617e-03 9.99979164e-01 1.02856111e-03 7.54924989e-01] [ 9.12799174e-02 -4.42564311e-04 9.95825176e-01 -5.47752734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.19534707 meters 0.022365004805347692 Centerline is valid? [True, True] Translation: X:-8.65, Y:0.75, Z:-0.55 [[ 9.95462721e-01 -4.61692903e-03 -9.50402822e-02 -8.64715496e+00] [ 4.74234756e-03 9.99988157e-01 1.09380836e-03 7.50091251e-01] [ 9.50341065e-02 -1.53955950e-03 9.95472827e-01 -5.50250837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255347070000001 meters 0.031941210596657006 Centerline is valid? [True, True] Translation: X:-8.71, Y:0.72, Z:-0.56 [[ 9.94811374e-01 -2.24620939e-02 -9.92259241e-02 -8.70785951e+00] [ 2.26875548e-02 9.99741949e-01 1.14425691e-03 7.21373097e-01] [ 9.91746163e-02 -3.38951337e-03 9.95064273e-01 -5.57702194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.31534707 meters 0.025178594719181775 Centerline is valid? [True, True] Translation: X:-8.77, Y:0.73, Z:-0.55 [[ 9.95054174e-01 -1.66502531e-02 -9.79283421e-02 -8.76764483e+00] [ 1.68420491e-02 9.99857522e-01 1.13215945e-03 7.25862313e-01] [ 9.78955387e-02 -2.77587394e-03 9.95192825e-01 -5.50767685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.37534707 meters 0.023829638134880725 Centerline is valid? [True, True] Translation: X:-8.83, Y:0.74, Z:-0.56 [[ 9.94643636e-01 6.00277425e-03 -1.03189164e-01 -8.82612787e+00] [-5.91062682e-03 9.99981814e-01 1.19874724e-03 7.41334348e-01] [ 1.03194484e-01 -5.82413671e-04 9.94661027e-01 -5.59539386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.43534707 meters 0.025001009447468917 Centerline is valid? [True, True] Translation: X:-8.88, Y:0.76, Z:-0.56 [[ 9.93587458e-01 3.22241525e-02 -1.08376969e-01 -8.88494685e+00] [-3.22772034e-02 9.99478155e-01 1.26513937e-03 7.63415041e-01] [ 1.08361181e-01 2.24107888e-03 9.94109064e-01 -5.60632853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495347070000001 meters 0.027096393266172757 Centerline is valid? [True, True] Translation: X:-8.94, Y:0.78, Z:-0.57 [[ 9.92567555e-01 5.11398754e-02 -1.10428081e-01 -8.94498851e+00] [-5.13112526e-02 9.98681875e-01 1.29117573e-03 7.80581421e-01] [ 1.10348554e-01 4.38462403e-03 9.93883279e-01 -5.68806947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.55534707 meters 0.026885343373618885 Centerline is valid? [True, True] Translation: X:-9.00, Y:0.78, Z:-0.57 [[ 9.92106916e-01 5.85098720e-02 -1.10907450e-01 -9.00436660e+00] [-5.87284485e-02 9.98273152e-01 1.29778842e-03 7.80068587e-01] [ 1.10791863e-01 5.22587759e-03 9.93829892e-01 -5.68949098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.61534707 meters 0.027455787762468993 Centerline is valid? [True, True] Translation: X:-9.07, Y:0.78, Z:-0.58 [[ 9.91804005e-01 5.76424102e-02 -1.14027052e-01 -9.06541766e+00] [-5.78680263e-02 9.98323351e-01 1.33322695e-03 7.79222222e-01] [ 1.13912719e-01 5.27622062e-03 9.93476751e-01 -5.76445865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.67534707 meters 0.03040734833255493 Centerline is valid? [True, True] Translation: X:-9.13, Y:0.78, Z:-0.59 [[ 9.91846694e-01 5.33931014e-02 -1.15712194e-01 -9.12665891e+00] [-5.35975133e-02 9.98561713e-01 1.34636041e-03 7.81048250e-01] [ 1.15617653e-01 4.86650276e-03 9.93281871e-01 -5.85037469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.73534707 meters 0.02925335733352345 Centerline is valid? [True, True] Translation: X:-9.19, Y:0.78, Z:-0.59 [[ 9.92229682e-01 4.61803735e-02 -1.15531949e-01 -9.18743996e+00] [-4.63360513e-02 9.98925011e-01 1.33923742e-03 7.78658597e-01] [ 1.15469600e-01 4.02446318e-03 9.93302862e-01 -5.89348417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.79534707 meters 0.027072362761129117 Centerline is valid? [True, True] Translation: X:-9.25, Y:0.78, Z:-0.59 [[ 9.92623304e-01 3.75838470e-02 -1.15266777e-01 -9.24858715e+00] [-3.76812938e-02 9.99288917e-01 1.33422152e-03 7.75079981e-01] [ 1.15234958e-01 3.01902190e-03 9.93333675e-01 -5.91137000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.85534707 meters 0.021077398873823195 Centerline is valid? [True, True] Translation: X:-9.31, Y:0.77, Z:-0.60 [[ 9.92604878e-01 3.50071648e-02 -1.16232763e-01 -9.30728056e+00] [-3.50871823e-02 9.99383332e-01 1.35821201e-03 7.74929956e-01] [ 1.16208634e-01 2.73011229e-03 9.93221073e-01 -5.97789273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915347070000001 meters 0.022867604087235576 Centerline is valid? [True, True] Translation: X:-9.37, Y:0.78, Z:-0.60 [[ 9.92334163e-01 3.57760013e-02 -1.18291959e-01 -9.36567634e+00] [-3.58615542e-02 9.99355779e-01 1.40591418e-03 7.83192861e-01] [ 1.18266051e-01 2.84699683e-03 9.92977863e-01 -5.97292919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.97534707 meters 0.025133843145813826 Centerline is valid? [True, True] Translation: X:-9.42, Y:0.80, Z:-0.61 [[ 9.92149073e-01 4.26663400e-02 -1.17557644e-01 -9.42405420e+00] [-4.27965929e-02 9.99082801e-01 1.41723171e-03 7.96848819e-01] [ 1.17510288e-01 3.62496151e-03 9.93065049e-01 -6.05119696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.03534707 meters 0.02218000971400085 Centerline is valid? [True, True] Translation: X:-9.48, Y:0.79, Z:-0.61 [[ 9.92414496e-01 3.74486102e-02 -1.17094281e-01 -9.48407201e+00] [-3.75393432e-02 9.99294126e-01 1.43122073e-03 7.89626147e-01] [ 1.17065224e-01 2.97527820e-03 9.93119772e-01 -6.07015463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.09534707 meters 0.022736935015052386 Centerline is valid? [True, True] Translation: X:-9.54, Y:0.78, Z:-0.61 [[ 9.92794425e-01 2.64897043e-02 -1.16865413e-01 -9.54416339e+00] [-2.65040972e-02 9.99647680e-01 1.43114611e-03 7.76918420e-01] [ 1.16862149e-01 1.67657837e-03 9.93146730e-01 -6.14772993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.15534707 meters 0.023249372890240337 Centerline is valid? [True, True] Translation: X:-9.60, Y:0.77, Z:-0.61 [[ 9.92899969e-01 2.21559958e-02 -1.16870708e-01 -9.60292002e+00] [-2.21393078e-02 9.99753857e-01 1.44111587e-03 7.66753619e-01] [ 1.16873871e-01 1.15655267e-03 9.93146092e-01 -6.08582879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.21534707 meters 0.023256336402147592 Centerline is valid? [True, True] Translation: X:-9.66, Y:0.76, Z:-0.62 [[ 9.92939275e-01 1.79867900e-02 -1.17252169e-01 -9.66125533e+00] [-1.79378402e-02 9.99838019e-01 1.47281183e-03 7.62034910e-01] [ 1.17259668e-01 6.40837962e-04 9.93101082e-01 -6.17832176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.27534707 meters 0.024295443516317898 Centerline is valid? [True, True] Translation: X:-9.72, Y:0.76, Z:-0.62 [[ 9.92964409e-01 2.00910508e-02 -1.16696320e-01 -9.71970006e+00] [-2.00539937e-02 9.99797786e-01 1.49178775e-03 7.62017316e-01] [ 1.16702694e-01 8.58935126e-04 9.93166523e-01 -6.15568702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335347070000001 meters 0.026923896931407527 Centerline is valid? [True, True] Translation: X:-9.78, Y:0.77, Z:-0.62 [[ 9.92891216e-01 2.35539584e-02 -1.16671527e-01 -9.77872567e+00] [-2.35381317e-02 9.99721794e-01 1.51366260e-03 7.66512390e-01] [ 1.16674721e-01 1.24332747e-03 9.93169403e-01 -6.18958591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.39534707 meters 0.023325876765688834 Centerline is valid? [True, True] Translation: X:-9.84, Y:0.77, Z:-0.63 [[ 9.92632897e-01 2.65651707e-02 -1.18212617e-01 -9.83672640e+00] [-2.65673143e-02 9.99645813e-01 1.55796867e-03 7.71281886e-01] [ 1.18212135e-01 1.59410078e-03 9.92987085e-01 -6.29442466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.45534707 meters 0.026715414649102775 Centerline is valid? [True, True] Translation: X:-9.90, Y:0.78, Z:-0.64 [[ 9.92813391e-01 2.67440978e-02 -1.16646151e-01 -9.89515526e+00] [-2.67448363e-02 9.99641077e-01 1.55913511e-03 7.75210508e-01] [ 1.16645981e-01 1.57175199e-03 9.93172314e-01 -6.35017607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.51534707 meters 0.024171246101170107 Centerline is valid? [True, True] Translation: X:-9.95, Y:0.78, Z:-0.63 [[ 9.92818606e-01 3.04772711e-02 -1.15682114e-01 -9.95262364e+00] [-3.05002372e-02 9.99533523e-01 1.57199076e-03 7.77761469e-01] [ 1.15676061e-01 1.96763025e-03 9.93285043e-01 -6.34411910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.57534707 meters 0.022887954580977192 Centerline is valid? [True, True] Translation: X:-10.01, Y:0.78, Z:-0.65 [[ 9.93114452e-01 2.58053534e-02 -1.14270596e-01 -1.00110537e+01] [-2.57957250e-02 9.99666013e-01 1.56319663e-03 7.78127541e-01] [ 1.14272770e-01 1.39525969e-03 9.93448432e-01 -6.47426314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.63534707 meters 0.028606077502512737 Centerline is valid? [True, True] Translation: X:-10.07, Y:0.78, Z:-0.65 [[ 9.93433596e-01 1.85260323e-02 -1.12900297e-01 -1.00702827e+01] [-1.84689084e-02 9.99828231e-01 1.55195312e-03 7.75032130e-01] [ 1.12909656e-01 5.43382877e-04 9.93605110e-01 -6.51145814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.69534707 meters 0.02309632788892439 Centerline is valid? [True, True] Translation: X:-10.13, Y:0.78, Z:-0.65 [[ 9.93732933e-01 1.64285563e-02 -1.10566539e-01 -1.01287785e+01] [-1.63600217e-02 9.99865000e-01 1.52709942e-03 7.75683649e-01] [ 1.10576701e-01 2.91341994e-04 9.93867551e-01 -6.54680601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755347070000001 meters 0.024145136518931853 Centerline is valid? [True, True] Translation: X:-10.19, Y:0.78, Z:-0.66 [[ 9.93446419e-01 1.39766700e-02 -1.13441020e-01 -1.01869770e+01] [-1.38875939e-02 9.99902322e-01 1.57548234e-03 7.79195265e-01] [ 1.13451959e-01 1.02655290e-05 9.93543483e-01 -6.60769145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.81534707 meters 0.021816187373740234 Centerline is valid? [True, True] Translation: X:-10.25, Y:0.78, Z:-0.66 [[ 9.94254851e-01 1.00220124e-02 -1.06568525e-01 -1.02455531e+01] [-9.92000005e-03 9.99949689e-01 1.48730633e-03 7.80541813e-01] [ 1.06578069e-01 -4.21601763e-04 9.94304248e-01 -6.64082867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.87534707 meters 0.025701918518638685 Centerline is valid? [True, True] Translation: X:-10.30, Y:0.78, Z:-0.67 [[ 9.94592060e-01 4.20738375e-03 -1.03773465e-01 -1.03039433e+01] [-4.07757777e-03 9.99990616e-01 1.46297317e-03 7.81333496e-01] [ 1.03778646e-01 -1.03191713e-03 9.94599883e-01 -6.72749153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.93534707 meters 0.024761189403680328 Centerline is valid? [True, True] Translation: X:-10.36, Y:0.79, Z:-0.67 [[ 9.94445666e-01 5.05555487e-03 -1.05129719e-01 -1.03615096e+01] [-4.92415683e-03 9.99986737e-01 1.50938668e-03 7.88817749e-01] [ 1.05135956e-01 -9.83327818e-04 9.94457372e-01 -6.72263749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995347070000001 meters 0.02457265666602595 Centerline is valid? [True, True] Translation: X:-10.42, Y:0.79, Z:-0.67 [[ 9.95010642e-01 3.84115787e-03 -9.96948766e-02 -1.04210496e+01] [-3.71579293e-03 9.99992055e-01 1.44314190e-03 7.92537595e-01] [ 9.96996279e-02 -1.06549603e-03 9.95017009e-01 -6.73252276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.05534707 meters 0.02725844860828497 Centerline is valid? [True, True] Translation: X:-10.48, Y:0.80, Z:-0.68 [[ 9.95268650e-01 7.59102267e-03 -9.68642952e-02 -1.04803354e+01] [-7.49000896e-03 9.99970960e-01 1.40641220e-03 7.98387560e-01] [ 9.68721585e-02 -6.74243530e-04 9.95296604e-01 -6.83759272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.11534707 meters 0.025824257206004165 Centerline is valid? [True, True] Translation: X:-10.54, Y:0.80, Z:-0.68 [[ 9.96055131e-01 8.60245812e-03 -8.83185884e-02 -1.05397912e+01] [-8.52218904e-03 9.99962859e-01 1.28589563e-03 7.97418157e-01] [ 8.83263700e-02 -5.28155230e-04 9.96091448e-01 -6.80975631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.17534707 meters 0.02598204835156587 Centerline is valid? [True, True] Translation: X:-10.60, Y:0.80, Z:-0.69 [[ 9.95569986e-01 1.45159336e-02 -9.28961324e-02 -1.05968566e+01] [-1.44522183e-02 9.99894638e-01 1.35860786e-03 7.97177450e-01] [ 9.29060661e-02 -1.00340165e-05 9.95674878e-01 -6.90277948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.23534707 meters 0.026004558372482136 Centerline is valid? [True, True] Translation: X:-10.66, Y:0.80, Z:-0.69 [[ 9.96825281e-01 1.32568351e-02 -7.85086962e-02 -1.06568685e+01] [-1.32069358e-02 9.99912118e-01 1.15480893e-03 8.00697993e-01] [ 7.85171058e-02 -1.14283424e-04 9.96912760e-01 -6.87349472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.29534707 meters 0.026121912129480812 Centerline is valid? [True, True] Translation: X:-10.72, Y:0.81, Z:-0.70 [[ 9.96563060e-01 2.09329966e-02 -8.01490985e-02 -1.07152539e+01] [-2.09053035e-02 9.99780758e-01 1.18471758e-03 8.08913403e-01] [ 8.01563261e-02 4.94895454e-04 9.96782182e-01 -6.96085879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.35534707 meters 0.027196249503474178 Centerline is valid? [True, True] Translation: X:-10.77, Y:0.81, Z:-0.70 [[ 9.97191500e-01 1.29677992e-02 -7.37627870e-02 -1.07734565e+01] [-1.29211984e-02 9.99915903e-01 1.10895215e-03 8.08508233e-01] [ 7.37709644e-02 -1.52734051e-04 9.97275198e-01 -6.98022810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415347070000001 meters 0.030540259230486456 Centerline is valid? [True, True] Translation: X:-10.83, Y:0.81, Z:-0.70 [[ 9.97663917e-01 9.52655316e-03 -6.76457950e-02 -1.08307579e+01] [-9.47902820e-03 9.99954549e-01 1.02350445e-03 8.06869346e-01] [ 6.76524709e-02 -3.79897062e-04 9.97708875e-01 -7.02691264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.47534707 meters 0.029899025060158492 Centerline is valid? [True, True] Translation: X:-10.89, Y:0.80, Z:-0.70 [[ 9.97864904e-01 1.40018965e-03 -6.52968015e-02 -1.08892033e+01] [-1.33809993e-03 9.99998610e-01 9.94608377e-04 8.04403037e-01] [ 6.52981034e-02 -9.05111148e-04 9.97865391e-01 -7.04887410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.53534707 meters 0.032087613907198165 Centerline is valid? [True, True] Translation: X:-10.95, Y:0.79, Z:-0.72 [[ 9.97858842e-01 -1.38416452e-02 -6.39229311e-02 -1.09489472e+01] [ 1.39336158e-02 9.99902429e-01 9.93180529e-04 7.92524220e-01] [ 6.39029469e-02 -1.88173153e-03 9.97954344e-01 -7.17090313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.59534707 meters 0.03377937231219077 Centerline is valid? [True, True] Translation: X:-11.01, Y:0.79, Z:-0.72 [[ 9.98049608e-01 -2.29582337e-02 -5.80508435e-02 -1.10088123e+01] [ 2.30494396e-02 9.99733920e-01 9.01954043e-04 7.87866621e-01] [ 5.80146900e-02 -2.23823429e-03 9.98313220e-01 -7.15397783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.65534707 meters 0.03401450155352308 Centerline is valid? [True, True] Translation: X:-11.07, Y:0.79, Z:-0.72 [[ 9.98120603e-01 -2.42263001e-02 -5.62880802e-02 -1.10670270e+01] [ 2.43139872e-02 9.99703990e-01 8.73411862e-04 7.85261301e-01] [ 5.62502588e-02 -2.24035803e-03 9.98414187e-01 -7.20587212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.71534707 meters 0.03358711514565843 Centerline is valid? [True, True] Translation: X:-11.13, Y:0.77, Z:-0.71 [[ 9.98268878e-01 -2.72189483e-02 -5.21380571e-02 -1.11281993e+01] [ 2.72991775e-02 9.99626966e-01 8.27123347e-04 7.74780585e-01] [ 5.20960944e-02 -2.24901757e-03 9.98639544e-01 -7.12159284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.77534707 meters 0.034063759872933454 Centerline is valid? [True, True] Translation: X:-11.19, Y:0.76, Z:-0.71 [[ 9.98238658e-01 -3.41984355e-02 -4.84772939e-02 -1.11890753e+01] [ 3.42760371e-02 9.99412107e-01 7.70149609e-04 7.61892008e-01] [ 4.84224566e-02 -2.43040264e-03 9.98823988e-01 -7.09225036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835347070000001 meters 0.033741768318995856 Centerline is valid? [True, True] Translation: X:-11.25, Y:0.76, Z:-0.71 [[ 9.98345581e-01 -3.29616555e-02 -4.71129508e-02 -1.12479588e+01] [ 3.30333473e-02 9.99453973e-01 7.43717645e-04 7.59728063e-01] [ 4.70627117e-02 -2.29878569e-03 9.98889292e-01 -7.08353513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.89534707 meters 0.02948500595581215 Centerline is valid? [True, True] Translation: X:-11.31, Y:0.77, Z:-0.71 [[ 9.98678029e-01 -2.52884063e-02 -4.47514406e-02 -1.13076827e+01] [ 2.53462168e-02 9.99678470e-01 7.24769775e-04 7.68890473e-01] [ 4.47187235e-02 -1.85809137e-03 9.98997890e-01 -7.07542710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.95534707 meters 0.028675450059477074 Centerline is valid? [True, True] Translation: X:-11.37, Y:0.77, Z:-0.70 [[ 9.98764486e-01 -2.22515311e-02 -4.44338897e-02 -1.13668340e+01] [ 2.23052723e-02 9.99750952e-01 7.13968711e-04 7.69113084e-01] [ 4.44069366e-02 -1.70419660e-03 9.99012072e-01 -6.99433859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.01534707 meters 0.026336541708936397 Centerline is valid? [True, True] Translation: X:-11.42, Y:0.77, Z:-0.70 [[ 9.98867154e-01 -1.89794670e-02 -4.36370149e-02 -1.14245398e+01] [ 1.90289526e-02 9.99818675e-01 7.18889966e-04 7.74697183e-01] [ 4.36154583e-02 -1.54844226e-03 9.99047193e-01 -6.99846380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.07534707 meters 0.027689475814432502 Centerline is valid? [True, True] Translation: X:-11.49, Y:0.77, Z:-0.70 [[ 9.98765610e-01 -2.35020617e-02 -4.37596818e-02 -1.14852909e+01] [ 2.35564525e-02 9.99722243e-01 7.27627822e-04 7.68331152e-01] [ 4.37304266e-02 -1.75755251e-03 9.99041821e-01 -6.97195940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.13534707 meters 0.028750822511550856 Centerline is valid? [True, True] Translation: X:-11.54, Y:0.76, Z:-0.70 [[ 9.98463791e-01 -2.98299080e-02 -4.66929902e-02 -1.15448296e+01] [ 2.98987808e-02 9.99552629e-01 7.77141056e-04 7.63998931e-01] [ 4.66489190e-02 -2.17201068e-03 9.98908985e-01 -6.99662322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.19534707 meters 0.031914418196782895 Centerline is valid? [True, True] Translation: X:-11.61, Y:0.75, Z:-0.70 [[ 9.98051866e-01 -3.77865139e-02 -4.96452633e-02 -1.16057703e+01] [ 3.78743386e-02 9.99282166e-01 8.29178723e-04 7.52997472e-01] [ 4.95782945e-02 -2.70784488e-03 9.98766569e-01 -6.96731589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255347070000001 meters 0.03448466452215074 Centerline is valid? [True, True] Translation: X:-11.67, Y:0.75, Z:-0.70 [[ 9.97573801e-01 -4.51867526e-02 -5.29591345e-02 -1.16667836e+01] [ 4.52971304e-02 9.98973166e-01 8.85159200e-04 7.45134544e-01] [ 5.28647568e-02 -3.28190845e-03 9.98596288e-01 -6.97382754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.31534707 meters 0.03609710335718102 Centerline is valid? [True, True] Translation: X:-11.73, Y:0.74, Z:-0.70 [[ 9.97052835e-01 -5.09098609e-02 -5.73919018e-02 -1.17268675e+01] [ 5.10489247e-02 9.98695694e-01 9.58606650e-04 7.39371622e-01] [ 5.72682426e-02 -3.88557635e-03 9.98351266e-01 -6.97922160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.37534707 meters 0.0357860799488907 Centerline is valid? [True, True] Translation: X:-11.79, Y:0.74, Z:-0.70 [[ 9.96883958e-01 -5.15914802e-02 -5.96715414e-02 -1.17856454e+01] [ 5.17430103e-02 9.98659937e-01 9.95994847e-04 7.37826526e-01] [ 5.95401929e-02 -4.08047647e-03 9.98217569e-01 -6.97894838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.43534707 meters 0.03961532803539244 Centerline is valid? [True, True] Translation: X:-11.84, Y:0.73, Z:-0.70 [[ 9.96671221e-01 -5.19979067e-02 -6.27908854e-02 -1.18446713e+01] [ 5.21677981e-02 9.98637762e-01 1.06814606e-03 7.29255723e-01] [ 6.26498079e-02 -4.34025267e-03 9.98026134e-01 -6.99247240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495347070000001 meters 0.038937058446820584 Centerline is valid? [True, True] Translation: X:-11.90, Y:0.73, Z:-0.70 [[ 9.96531506e-01 -5.21036271e-02 -6.48858250e-02 -1.19030212e+01] [ 5.22866321e-02 9.98631486e-01 1.12433891e-03 7.28506066e-01] [ 6.47384457e-02 -4.51310041e-03 9.97892061e-01 -6.99967403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.55534707 meters 0.03555931345225108 Centerline is valid? [True, True] Translation: X:-11.96, Y:0.73, Z:-0.70 [[ 9.96441174e-01 -4.95574136e-02 -6.81839389e-02 -1.19610690e+01] [ 4.97549939e-02 9.98760731e-01 1.20154230e-03 7.32529993e-01] [ 6.80398953e-02 -4.58975768e-03 9.97672044e-01 -7.02615607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.61534707 meters 0.03599178947397409 Centerline is valid? [True, True] Translation: X:-12.02, Y:0.73, Z:-0.70 [[ 9.96440747e-01 -4.49831058e-02 -7.12906634e-02 -1.20215467e+01] [ 4.51880348e-02 9.98977700e-01 1.26355315e-03 7.28090085e-01] [ 7.11609444e-02 -4.48054082e-03 9.97454783e-01 -7.00461391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.67534707 meters 0.032978190660931786 Centerline is valid? [True, True] Translation: X:-12.08, Y:0.73, Z:-0.71 [[ 9.96370174e-01 -4.13694834e-02 -7.43978600e-02 -1.20803405e+01] [ 4.15829068e-02 9.99134183e-01 1.32131614e-03 7.27924554e-01] [ 7.42787829e-02 -4.41019927e-03 9.97227764e-01 -7.05933510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.73534707 meters 0.028936049969066492 Centerline is valid? [True, True] Translation: X:-12.14, Y:0.73, Z:-0.71 [[ 9.96392386e-01 -3.39280909e-02 -7.77887971e-02 -1.21409443e+01] [ 3.41392699e-02 9.99416124e-01 1.38615777e-03 7.31032668e-01] [ 7.76963484e-02 -4.03680979e-03 9.96968897e-01 -7.07929919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.79534707 meters 0.0271528507009574 Centerline is valid? [True, True] Translation: X:-12.20, Y:0.73, Z:-0.71 [[ 9.96388107e-01 -2.73719096e-02 -8.03835756e-02 -1.22005798e+01] [ 2.75763300e-02 9.99618672e-01 1.43381626e-03 7.30328881e-01] [ 8.03136769e-02 -3.64532147e-03 9.96762973e-01 -7.12938754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.85534707 meters 0.025960124171975255 Centerline is valid? [True, True] Translation: X:-12.26, Y:0.73, Z:-0.71 [[ 9.96588820e-01 -2.28959375e-02 -7.92874494e-02 -1.22602105e+01] [ 2.30808201e-02 9.99732600e-01 1.41601343e-03 7.32406795e-01] [ 7.92338269e-02 -3.24120251e-03 9.96850789e-01 -7.10391126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915347070000001 meters 0.026525974646441384 Centerline is valid? [True, True] Translation: X:-12.32, Y:0.73, Z:-0.71 [[ 9.96597311e-01 -2.19186717e-02 -7.94567279e-02 -1.23183532e+01] [ 2.21014939e-02 9.99754721e-01 1.42208177e-03 7.29643867e-01] [ 7.94060687e-02 -3.17335526e-03 9.96837302e-01 -7.14561835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.97534707 meters 0.025158281380943334 Centerline is valid? [True, True] Translation: X:-12.38, Y:0.72, Z:-0.72 [[ 9.96461780e-01 -2.36119610e-02 -8.06622402e-02 -1.23759876e+01] [ 2.38067464e-02 9.99715522e-01 1.45382663e-03 7.23023127e-01] [ 8.06049658e-02 -3.36898816e-03 9.96740432e-01 -7.18401159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.03534707 meters 0.0247965753410098 Centerline is valid? [True, True] Translation: X:-12.43, Y:0.72, Z:-0.72 [[ 9.96254324e-01 -2.71672787e-02 -8.20930010e-02 -1.24344827e+01] [ 2.73821180e-02 9.99623926e-01 1.49210843e-03 7.19262761e-01] [ 8.20215914e-02 -3.73439971e-03 9.96623556e-01 -7.24192600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.09534707 meters 0.02876023917938831 Centerline is valid? [True, True] Translation: X:-12.49, Y:0.70, Z:-0.72 [[ 9.96395039e-01 -2.77848390e-02 -8.01556579e-02 -1.24922449e+01] [ 2.79924189e-02 9.99607059e-01 1.46697188e-03 7.04529952e-01] [ 8.00834019e-02 -3.70543425e-03 9.96781279e-01 -7.23668445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.15534707 meters 0.029999963695020674 Centerline is valid? [True, True] Translation: X:-12.55, Y:0.70, Z:-0.72 [[ 9.96447545e-01 -2.75949829e-02 -7.95663726e-02 -1.25507262e+01] [ 2.78013032e-02 9.99612364e-01 1.48623375e-03 7.01787756e-01] [ 7.94945173e-02 -3.69300282e-03 9.96828462e-01 -7.23685902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.21534707 meters 0.026952870537012712 Centerline is valid? [True, True] Translation: X:-12.61, Y:0.70, Z:-0.73 [[ 9.96468494e-01 -2.42423323e-02 -8.03918516e-02 -1.26095672e+01] [ 2.44440935e-02 9.99700033e-01 1.52638166e-03 7.03625049e-01] [ 8.03307336e-02 -3.48609717e-03 9.96762168e-01 -7.26807065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.27534707 meters 0.026569550559367643 Centerline is valid? [True, True] Translation: X:-12.67, Y:0.70, Z:-0.73 [[ 9.96677527e-01 -1.80349395e-02 -7.94269938e-02 -1.26698049e+01] [ 1.82126130e-02 9.99832992e-01 1.51301902e-03 7.01553729e-01] [ 7.93864417e-02 -2.95456516e-03 9.96839537e-01 -7.31909380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335347070000001 meters 0.027178207535848285 Centerline is valid? [True, True] Translation: X:-12.73, Y:0.70, Z:-0.74 [[ 9.96812728e-01 -1.20154833e-02 -7.88670616e-02 -1.27298271e+01] [ 1.21720086e-02 9.99924787e-01 1.50422258e-03 7.03980498e-01] [ 7.88430558e-02 -2.45939876e-03 9.96884007e-01 -7.35105233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.39534707 meters 0.024936903372226833 Centerline is valid? [True, True] Translation: X:-12.79, Y:0.71, Z:-0.74 [[ 9.96765251e-01 -1.09954479e-02 -7.96123975e-02 -1.27876731e+01] [ 1.11519571e-02 9.99936657e-01 1.52152145e-03 7.07633920e-01] [ 7.95906248e-02 -2.40443375e-03 9.96824734e-01 -7.37801897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.45534707 meters 0.02351869650529333 Centerline is valid? [True, True] Translation: X:-12.85, Y:0.71, Z:-0.74 [[ 9.96807308e-01 -1.07898092e-02 -7.91123966e-02 -1.28451786e+01] [ 1.09444283e-02 9.99938951e-01 1.52107209e-03 7.10363223e-01] [ 7.90911548e-02 -2.38205573e-03 9.96864542e-01 -7.39960032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.51534707 meters 0.02414948586694356 Centerline is valid? [True, True] Translation: X:-12.90, Y:0.72, Z:-0.74 [[ 9.96777075e-01 -9.50387683e-03 -7.96563826e-02 -1.29024818e+01] [ 9.65733315e-03 9.99952179e-01 1.54144523e-03 7.15857281e-01] [ 7.96379236e-02 -2.30574549e-03 9.96821190e-01 -7.41981376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.57534707 meters 0.02480162322242817 Centerline is valid? [True, True] Translation: X:-12.96, Y:0.72, Z:-0.75 [[ 9.96866589e-01 -7.77458186e-03 -7.87182240e-02 -1.29606645e+01] [ 7.92011273e-03 9.99967455e-01 1.53670811e-03 7.16127105e-01] [ 7.87037148e-02 -2.15535018e-03 9.96895722e-01 -7.50436321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.63534707 meters 0.027620323137787263 Centerline is valid? [True, True] Translation: X:-13.02, Y:0.72, Z:-0.75 [[ 9.96991012e-01 -3.82133947e-03 -7.74229852e-02 -1.30193954e+01] [ 3.95238491e-03 9.99991004e-01 1.53942839e-03 7.24060634e-01] [ 7.74164061e-02 -1.84080170e-03 9.96997147e-01 -7.52292830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.69534707 meters 0.026872568677266936 Centerline is valid? [True, True] Translation: X:-13.08, Y:0.73, Z:-0.76 [[ 9.97009119e-01 -4.74444886e-03 -7.71382292e-02 -1.30772906e+01] [ 4.87902674e-03 9.99986886e-01 1.55626481e-03 7.32902249e-01] [ 7.71298340e-02 -1.92796969e-03 9.97019193e-01 -7.55430456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755347070000001 meters 0.026914579650706073 Centerline is valid? [True, True] Translation: X:-13.14, Y:0.74, Z:-0.76 [[ 9.97006136e-01 -7.75834789e-03 -7.69322645e-02 -1.31351824e+01] [ 7.90231817e-03 9.99967548e-01 1.56713946e-03 7.38723158e-01] [ 7.69176095e-02 -2.17039089e-03 9.97035090e-01 -7.59560585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.81534707 meters 0.02669864124635539 Centerline is valid? [True, True] Translation: X:-13.19, Y:0.74, Z:-0.77 [[ 9.96974466e-01 -1.38889824e-02 -7.64788218e-02 -1.31948399e+01] [ 1.40509580e-02 9.99900032e-01 1.58020751e-03 7.40590836e-01] [ 7.64492288e-02 -2.65002725e-03 9.97069954e-01 -7.67234996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.87534707 meters 0.03040568278229063 Centerline is valid? [True, True] Translation: X:-13.25, Y:0.74, Z:-0.77 [[ 9.96912398e-01 -1.88873836e-02 -7.62163851e-02 -1.32543748e+01] [ 1.90631777e-02 9.99817033e-01 1.57958709e-03 7.38657963e-01] [ 7.61726058e-02 -3.02763645e-03 9.97090050e-01 -7.71183520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.93534707 meters 0.02941658897680549 Centerline is valid? [True, True] Translation: X:-13.31, Y:0.74, Z:-0.78 [[ 9.96779962e-01 -2.25250050e-02 -7.69566904e-02 -1.33126047e+01] [ 2.27153409e-02 9.99740695e-01 1.59872360e-03 7.44283197e-01] [ 7.69007239e-02 -3.34167310e-03 9.97033155e-01 -7.78593955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.99534707 meters 0.033220458376161756 Centerline is valid? [True, True] Translation: X:-13.37, Y:0.75, Z:-0.78 [[ 9.96713726e-01 -2.60809465e-02 -7.66911524e-02 -1.33720184e+01] [ 2.62808105e-02 9.99653323e-01 1.59783398e-03 7.49306677e-01] [ 7.66228923e-02 -3.60808870e-03 9.97053616e-01 -7.78742276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.05534707 meters 0.033595866739002014 Centerline is valid? [True, True] Translation: X:-13.43, Y:0.76, Z:-0.78 [[ 9.96498045e-01 -3.19905201e-02 -7.72544706e-02 -1.34303698e+01] [ 3.22113013e-02 9.99479780e-01 1.61312078e-03 7.58020313e-01] [ 7.71626767e-02 -4.09593874e-03 9.97010103e-01 -7.84360588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.11534707 meters 0.031198129417372298 Centerline is valid? [True, True] Translation: X:-13.49, Y:0.76, Z:-0.79 [[ 9.96354792e-01 -3.51198509e-02 -7.77413949e-02 -1.34895489e+01] [ 3.53532746e-02 9.99373552e-01 1.62789028e-03 7.59341052e-01] [ 7.76355227e-02 -4.37036916e-03 9.96972229e-01 -7.89059423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.17534707 meters 0.033929149099408196 Centerline is valid? [True, True] Translation: X:-13.55, Y:0.76, Z:-0.79 [[ 9.96300929e-01 -3.87593349e-02 -7.66953259e-02 -1.35492153e+01] [ 3.89975010e-02 9.99238012e-01 1.60956095e-03 7.62624476e-01] [ 7.65744994e-02 -4.59453312e-03 9.97053277e-01 -7.90957848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.23534707 meters 0.0376201376957537 Centerline is valid? [True, True] Translation: X:-13.61, Y:0.76, Z:-0.80 [[ 9.96167207e-01 -4.13779415e-02 -7.70633645e-02 -1.36088868e+01] [ 4.16264803e-02 9.99131928e-01 1.62090201e-03 7.60461912e-01] [ 7.69293983e-02 -4.82256605e-03 9.97024880e-01 -7.96447593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.29534707 meters 0.03496759214105284 Centerline is valid? [True, True] Translation: X:-13.67, Y:0.76, Z:-0.80 [[ 9.96175014e-01 -4.21849785e-02 -7.65229949e-02 -1.36675354e+01] [ 4.24328905e-02 9.99098012e-01 1.61594743e-03 7.63759525e-01] [ 7.63858034e-02 -4.85685831e-03 9.97066507e-01 -8.01274207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.35534707 meters 0.0324660371381525 Centerline is valid? [True, True] Translation: X:-13.73, Y:0.77, Z:-0.81 [[ 9.96236697e-01 -4.05273254e-02 -7.66157871e-02 -1.37256178e+01] [ 4.07726785e-02 9.99167102e-01 1.64023992e-03 7.66264048e-01] [ 7.64854994e-02 -4.75789805e-03 9.97059342e-01 -8.06551822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.41534707 meters 0.031586112539829334 Centerline is valid? [True, True] Translation: X:-13.78, Y:0.77, Z:-0.81 [[ 9.96204775e-01 -3.97186955e-02 -7.74498048e-02 -1.37841845e+01] [ 3.99681780e-02 9.99199552e-01 1.67317395e-03 7.69203104e-01] [ 7.73213540e-02 -4.76235147e-03 9.96994849e-01 -8.12906971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.47534707 meters 0.02811638125150134 Centerline is valid? [True, True] Translation: X:-13.84, Y:0.78, Z:-0.82 [[ 9.96227533e-01 -3.86316846e-02 -7.77064691e-02 -1.38416738e+01] [ 3.88813293e-02 9.99242386e-01 1.70171289e-03 7.76190852e-01] [ 7.75818575e-02 -4.71662405e-03 9.96974829e-01 -8.15134218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.53534707 meters 0.031152721116186617 Centerline is valid? [True, True] Translation: X:-13.90, Y:0.77, Z:-0.82 [[ 9.96287329e-01 -3.71974081e-02 -7.76396249e-02 -1.39000458e+01] [ 3.74435116e-02 9.99297273e-01 1.71597549e-03 7.71159408e-01] [ 7.75212356e-02 -4.61670483e-03 9.96980012e-01 -8.22049999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.59534707 meters 0.030333990476763203 Centerline is valid? [True, True] Translation: X:-13.96, Y:0.77, Z:-0.82 [[ 9.96329036e-01 -3.40084802e-02 -7.85612777e-02 -1.39598222e+01] [ 3.42524176e-02 9.99411665e-01 1.75921662e-03 7.72847671e-01] [ 7.84552291e-02 -4.44367228e-03 9.96907734e-01 -8.23915666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.65534707 meters 0.02847124950900983 Centerline is valid? [True, True] Translation: X:-14.02, Y:0.77, Z:-0.83 [[ 9.96410271e-01 -3.20292856e-02 -7.83626008e-02 -1.40189622e+01] [ 3.22661901e-02 9.99477764e-01 1.75854931e-03 7.72921296e-01] [ 7.82653519e-02 -4.28069917e-03 9.96923372e-01 -8.27924230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.71534707 meters 0.026187281288352467 Centerline is valid? [True, True] Translation: X:-14.08, Y:0.78, Z:-0.83 [[ 9.96499994e-01 -2.75563320e-02 -7.89202831e-02 -1.40779494e+01] [ 2.77830301e-02 9.99612400e-01 1.77569242e-03 7.75134265e-01] [ 7.88407621e-02 -3.96212209e-03 9.96879349e-01 -8.30679289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.77534707 meters 0.022743478750157094 Centerline is valid? [True, True] Translation: X:-14.14, Y:0.79, Z:-0.84 [[ 9.96564419e-01 -1.48936924e-02 -8.14710831e-02 -1.41372514e+01] [ 1.50932680e-02 9.99884408e-01 1.83430825e-03 7.85849775e-01] [ 8.14343460e-02 -3.05767123e-03 9.96674018e-01 -8.40253845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835347070000001 meters 0.014744716961436796 Centerline is valid? [True, True] Translation: X:-14.20, Y:0.82, Z:-0.84 [[ 9.96640559e-01 1.36308635e-02 -8.07576344e-02 -1.41972858e+01] [-1.35280661e-02 9.99906835e-01 1.81994259e-03 8.15822532e-01] [ 8.07749180e-02 -7.21333990e-04 9.96732107e-01 -8.39896674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.89534707 meters 0.015639824798626165 Centerline is valid? [True, True] Translation: X:-14.25, Y:0.85, Z:-0.85 [[ 9.95725977e-01 3.91918127e-02 -8.36288243e-02 -1.42545353e+01] [-3.91712417e-02 9.99230730e-01 1.88739605e-03 8.45491121e-01] [ 8.36384616e-02 1.39651561e-03 9.96495187e-01 -8.45712903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.95534707 meters 0.021088160311202697 Centerline is valid? [True, True] Translation: X:-14.31, Y:0.86, Z:-0.85 [[ 9.95040425e-01 5.27831560e-02 -8.43118671e-02 -1.43142592e+01] [-5.28103727e-02 9.98602734e-01 1.90896174e-03 8.63590316e-01] [ 8.42948221e-02 2.55304703e-03 9.96437587e-01 -8.50175205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.01534707 meters 0.02085829591433336 Centerline is valid? [True, True] Translation: X:-14.38, Y:0.86, Z:-0.85 [[ 9.94868593e-01 5.69618971e-02 -8.36171322e-02 -1.43750330e+01] [-5.70033882e-02 9.98372190e-01 1.89307359e-03 8.58931421e-01] [ 8.35888525e-02 2.88310039e-03 9.96496157e-01 -8.54048762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.07534707 meters 0.019657526796914713 Centerline is valid? [True, True] Translation: X:-14.44, Y:0.85, Z:-0.86 [[ 9.95136513e-01 5.22161242e-02 -8.35272171e-02 -1.44359671e+01] [-5.22411333e-02 9.98632716e-01 1.88765704e-03 8.48273624e-01] [ 8.35115778e-02 2.48508003e-03 9.96503708e-01 -8.57164520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.13534707 meters 0.019724304270468652 Centerline is valid? [True, True] Translation: X:-14.50, Y:0.84, Z:-0.86 [[ 9.95363898e-01 4.85842631e-02 -8.30077122e-02 -1.44980749e+01] [-4.85966147e-02 9.98816731e-01 1.87282579e-03 8.38398090e-01] [ 8.30004816e-02 2.16975062e-03 9.96547145e-01 -8.63798338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.19534707 meters 0.018488724540265754 Centerline is valid? [True, True] Translation: X:-14.56, Y:0.83, Z:-0.87 [[ 9.95349498e-01 4.72942119e-02 -8.39204014e-02 -1.45583072e+01] [-4.73028923e-02 9.98878811e-01 1.88602630e-03 8.29368155e-01] [ 8.39155089e-02 2.09242238e-03 9.96470677e-01 -8.66367620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255347070000001 meters 0.019913934950297595 Centerline is valid? [True, True] Translation: X:-14.62, Y:0.83, Z:-0.87 [[ 9.95041022e-01 5.13855756e-02 -8.51638850e-02 -1.46184590e+01] [-5.14098845e-02 9.98675813e-01 1.90911311e-03 8.28540722e-01] [ 8.51492130e-02 2.47861964e-03 9.96365128e-01 -8.71001592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.31534707 meters 0.022743630971663296 Centerline is valid? [True, True] Translation: X:-14.68, Y:0.83, Z:-0.88 [[ 9.94675059e-01 5.70392939e-02 -8.58373248e-02 -1.46793797e+01] [-5.70850619e-02 9.98367466e-01 1.92326606e-03 8.31311187e-01] [ 8.58068941e-02 2.98700422e-03 9.96307309e-01 -8.75490061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.37534707 meters 0.025038584419690143 Centerline is valid? [True, True] Translation: X:-14.74, Y:0.83, Z:-0.88 [[ 9.94254612e-01 6.29337750e-02 -8.65858342e-02 -1.47387078e+01] [-6.30028527e-02 9.98011466e-01 1.93740901e-03 8.31522253e-01] [ 8.65355838e-02 3.52887672e-03 9.96242511e-01 -8.81055478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.43534707 meters 0.025205143348343145 Centerline is valid? [True, True] Translation: X:-14.80, Y:0.83, Z:-0.88 [[ 9.94019590e-01 6.59922254e-02 -8.70062119e-02 -1.48006303e+01] [-6.60736523e-02 9.97812849e-01 1.94682344e-03 8.29532516e-01] [ 8.69443915e-02 3.81363756e-03 9.96205867e-01 -8.83918686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.49534707 meters 0.023993048437528017 Centerline is valid? [True, True] Translation: X:-14.86, Y:0.82, Z:-0.89 [[ 9.93760505e-01 6.73850941e-02 -8.88780469e-02 -1.48620542e+01] [-6.74762254e-02 9.97718913e-01 1.98221101e-03 8.22276731e-01] [ 8.88088799e-02 4.02731211e-03 9.96040543e-01 -8.88890429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.55534707 meters 0.02792937600314039 Centerline is valid? [True, True] Translation: X:-14.92, Y:0.83, Z:-0.90 [[ 9.93911930e-01 6.78018951e-02 -8.68445685e-02 -1.49233899e+01] [-6.78910180e-02 9.97690876e-01 1.93033788e-03 8.26001776e-01] [ 8.67749142e-02 3.97738032e-03 9.96220003e-01 -8.95926329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.61534707 meters 0.030422208904622643 Centerline is valid? [True, True] Translation: X:-14.99, Y:0.82, Z:-0.90 [[ 9.93869604e-01 7.00110868e-02 -8.55666856e-02 -1.49853605e+01] [-7.01063215e-02 9.97537725e-01 1.89510967e-03 8.24991473e-01] [ 8.54886755e-02 4.11527368e-03 9.96330643e-01 -9.01118110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.67534707 meters 0.026603731464808315 Centerline is valid? [True, True] Translation: X:-15.05, Y:0.81, Z:-0.90 [[ 9.93468837e-01 7.25570286e-02 -8.80633192e-02 -1.50466771e+01] [-7.26685472e-02 9.97354253e-01 1.94319307e-03 8.14451798e-01] [ 8.79713183e-02 4.46893171e-03 9.96112983e-01 -9.01527859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.73534707 meters 0.03155964302320093 Centerline is valid? [True, True] Translation: X:-15.11, Y:0.82, Z:-0.91 [[ 9.93541793e-01 7.27739723e-02 -8.70554677e-02 -1.51084992e+01] [-7.28842316e-02 9.97338568e-01 1.91555137e-03 8.22635013e-01] [ 8.69631778e-02 4.44179052e-03 9.96201624e-01 -9.12034050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.79534707 meters 0.03177909190456323 Centerline is valid? [True, True] Translation: X:-15.17, Y:0.82, Z:-0.91 [[ 9.93851869e-01 7.19025438e-02 -8.41931567e-02 -1.51694407e+01] [-7.20031180e-02 9.97402700e-01 1.84525638e-03 8.16111301e-01] [ 8.41071604e-02 4.22825830e-03 9.96447744e-01 -9.11278595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.85534707 meters 0.02987672061195825 Centerline is valid? [True, True] Translation: X:-15.23, Y:0.81, Z:-0.92 [[ 9.93934826e-01 6.97050744e-02 -8.50574232e-02 -1.52317890e+01] [-6.98001310e-02 9.97559263e-01 1.85946996e-03 8.13364853e-01] [ 8.49794349e-02 4.08882732e-03 9.96374316e-01 -9.16846196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.91534707 meters 0.028456158425837787 Centerline is valid? [True, True] Translation: X:-15.29, Y:0.80, Z:-0.92 [[ 9.94446150e-01 6.62850616e-02 -8.17505070e-02 -1.52924030e+01] [-6.63618031e-02 9.97794036e-01 1.78102310e-03 8.03748681e-01] [ 8.16882235e-02 3.65397948e-03 9.96651234e-01 -9.19226969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.97534707 meters 0.026270861261761556 Centerline is valid? [True, True] Translation: X:-15.35, Y:0.80, Z:-0.92 [[ 9.94808988e-01 6.01689849e-02 -8.20656543e-02 -1.53529356e+01] [-6.02257385e-02 9.98183185e-01 1.78592426e-03 7.99575103e-01] [ 8.20240134e-02 3.16581113e-03 9.96625325e-01 -9.24941630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.03534707 meters 0.01956999516635801 Centerline is valid? [True, True] Translation: X:-15.41, Y:0.79, Z:-0.93 [[ 9.95145768e-01 5.26280550e-02 -8.31576101e-02 -1.54133241e+01] [-5.26602538e-02 9.98610850e-01 1.80762885e-03 7.86924592e-01] [ 8.31372237e-02 2.58024665e-03 9.96534768e-01 -9.29313717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.09534707 meters 0.020654982487739358 Centerline is valid? [True, True] Translation: X:-15.47, Y:0.78, Z:-0.93 [[ 9.95510225e-01 4.92674784e-02 -8.08214531e-02 -1.54734823e+01] [-4.92869537e-02 9.98783117e-01 1.75521723e-03 7.83171424e-01] [ 8.08095780e-02 2.23610652e-03 9.96727050e-01 -9.33513691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15534707 meters 0.020689321404753342 Centerline is valid? [True, True] Translation: X:-15.53, Y:0.79, Z:-0.94 [[ 9.95791931e-01 4.47855503e-02 -7.99542616e-02 -1.55329020e+01] [-4.47901560e-02 9.98994908e-01 1.73675231e-03 7.86029906e-01] [ 7.99516816e-02 1.85171991e-03 9.96797020e-01 -9.41351451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.21534707 meters 0.021654160524944267 Centerline is valid? [True, True] Translation: X:-15.59, Y:0.79, Z:-0.94 [[ 9.95807655e-01 4.50791544e-02 -7.95926150e-02 -1.55909409e+01] [-4.50844439e-02 9.98981679e-01 1.73150442e-03 7.86900833e-01] [ 7.95896189e-02 1.86414344e-03 9.96825972e-01 -9.44854700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.27534707 meters 0.021342595023983682 Centerline is valid? [True, True] Translation: X:-15.65, Y:0.79, Z:-0.95 [[ 9.95688384e-01 4.67876760e-02 -8.00971565e-02 -1.56506239e+01] [-4.67981483e-02 9.98902838e-01 1.74749801e-03 7.91741857e-01] [ 8.00910383e-02 2.00843514e-03 9.96785529e-01 -9.48967585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.33534707 meters 0.018912776943843822 Centerline is valid? [True, True] Translation: X:-15.71, Y:0.80, Z:-0.95 [[ 9.95327283e-01 5.44256091e-02 -7.97587222e-02 -1.57093466e+01] [-5.44601472e-02 9.98514422e-01 1.74382622e-03 7.98106455e-01] [ 7.97351432e-02 2.60799394e-03 9.96812673e-01 -9.51193859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.39534707 meters 0.023690859363875813 Centerline is valid? [True, True] Translation: X:-15.77, Y:0.82, Z:-0.96 [[ 9.94830037e-01 6.17991978e-02 -8.05857073e-02 -1.57698765e+01] [-6.18583225e-02 9.98083380e-01 1.76501517e-03 8.17380457e-01] [ 8.05403316e-02 3.22900656e-03 9.96746120e-01 -9.55426316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.45534707 meters 0.02667241165634089 Centerline is valid? [True, True] Translation: X:-15.83, Y:0.83, Z:-0.96 [[ 9.94823754e-01 6.35484485e-02 -7.92924567e-02 -1.58319300e+01] [-6.36114945e-02 9.97973233e-01 1.73313899e-03 8.30775255e-01] [ 7.92418877e-02 3.31974384e-03 9.96849890e-01 -9.57215269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.51534707 meters 0.022815067461245835 Centerline is valid? [True, True] Translation: X:-15.89, Y:0.84, Z:-0.97 [[ 9.94958691e-01 5.76231554e-02 -8.20778608e-02 -1.58921600e+01] [-5.76712915e-02 9.98334028e-01 1.78615944e-03 8.36629739e-01] [ 8.20440455e-02 2.95638138e-03 9.96624320e-01 -9.66502002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.57534707 meters 0.022767064197667858 Centerline is valid? [True, True] Translation: X:-15.95, Y:0.84, Z:-0.97 [[ 9.95357138e-01 4.90224726e-02 -8.28309438e-02 -1.59527355e+01] [-4.90421814e-02 9.98795090e-01 1.79787394e-03 8.36852671e-01] [ 8.28192762e-02 2.27268352e-03 9.96561991e-01 -9.70210539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.63534707 meters 0.018675302505419277 Centerline is valid? [True, True] Translation: X:-16.01, Y:0.83, Z:-0.98 [[ 9.95728836e-01 3.64641343e-02 -8.48201112e-02 -1.60130481e+01] [-3.64394669e-02 9.99334169e-01 1.83950998e-03 8.34481643e-01] [ 8.48307115e-02 1.25914650e-03 9.96394583e-01 -9.76927836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.69534707 meters 0.01528831929555782 Centerline is valid? [True, True] Translation: X:-16.07, Y:0.83, Z:-0.98 [[ 9.95914070e-01 2.94309152e-02 -8.53755662e-02 -1.60704844e+01] [-2.93799303e-02 9.99566598e-01 1.85385315e-03 8.33467889e-01] [ 8.53931249e-02 6.62049747e-04 9.96347116e-01 -9.82102741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.75534707 meters 0.016474689161189267 Centerline is valid? [True, True] Translation: X:-16.13, Y:0.84, Z:-0.99 [[ 9.96025552e-01 2.42193110e-02 -8.57118659e-02 -1.61292453e+01] [-2.41474254e-02 9.99706649e-01 1.87551051e-03 8.38300411e-01] [ 8.57321459e-02 2.01664498e-04 9.96318201e-01 -9.85783275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.81534707 meters 0.0162863341424054 Centerline is valid? [True, True] Translation: X:-16.19, Y:0.84, Z:-0.99 [[ 9.96101223e-01 2.03547285e-02 -8.58372774e-02 -1.61856106e+01] [-2.02661494e-02 9.99792809e-01 1.90331005e-03 8.42916394e-01] [ 8.58582341e-02 -1.56298377e-04 9.96307352e-01 -9.88838794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.87534707 meters 0.015725534811639613 Centerline is valid? [True, True] Translation: X:-16.24, Y:0.85, Z:-0.99 [[ 9.96093041e-01 1.56295411e-02 -8.69158843e-02 -1.62427521e+01] [-1.55195268e-02 9.99877680e-01 1.94137901e-03 8.47606481e-01] [ 8.69355956e-02 -5.84900726e-04 9.96213762e-01 -9.93825775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.93534707 meters 0.01694050715594874 Centerline is valid? [True, True] Translation: X:-16.30, Y:0.85, Z:-1.00 [[ 9.96045271e-01 1.00678009e-02 -8.82748928e-02 -1.63011463e+01] [-9.93083607e-03 9.99948707e-01 1.99062420e-03 8.52720414e-01] [ 8.82904061e-02 -1.10610833e-03 9.96094163e-01 -1.00028100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.99534707 meters 0.017982189154121034 Centerline is valid? [True, True] Translation: X:-16.36, Y:0.86, Z:-1.00 [[ 9.95999481e-01 3.70555194e-03 -8.92821507e-02 -1.63591851e+01] [-3.53777352e-03 9.99991667e-01 2.03736661e-03 8.57023382e-01] [ 8.92889562e-02 -1.71335606e-03 9.96004291e-01 -1.00180559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.05534707 meters 0.019208835965380977 Centerline is valid? [True, True] Translation: X:-16.42, Y:0.86, Z:-1.01 [[ 9.96027663e-01 2.63310190e-03 -8.90054016e-02 -1.64175085e+01] [-2.46083850e-03 9.99994881e-01 2.04510282e-03 8.57975037e-01] [ 8.90103309e-02 -1.81795107e-03 9.96029044e-01 -1.00572410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.11534707 meters 0.01999087530254431 Centerline is valid? [True, True] Translation: X:-16.48, Y:0.86, Z:-1.01 [[ 9.95999058e-01 -8.69748433e-04 -8.93594979e-02 -1.64752233e+01] [ 1.05967502e-03 9.99997279e-01 2.07800240e-03 8.61045761e-01] [ 8.93574474e-02 -2.16438046e-03 9.95997270e-01 -1.00863116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.17534707 meters 0.02130654247319427 Centerline is valid? [True, True] Translation: X:-16.53, Y:0.86, Z:-1.01 [[ 9.95920027e-01 -2.52951331e-03 -9.02047738e-02 -1.65340473e+01] [ 2.73122360e-03 9.99994038e-01 2.11277127e-03 8.63132697e-01] [ 9.01988918e-02 -2.35052062e-03 9.95920998e-01 -1.01068382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.23534707 meters 0.021890395408163878 Centerline is valid? [True, True] Translation: X:-16.59, Y:0.87, Z:-1.01 [[ 9.95829971e-01 -4.49481055e-03 -9.11178642e-02 -1.65917051e+01] [ 4.71102767e-03 9.99986575e-01 2.15799992e-03 8.66931326e-01] [ 9.11069411e-02 -2.57825977e-03 9.95837777e-01 -1.01347458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295347070000002 meters 0.022536627808188478 Centerline is valid? [True, True] Translation: X:-16.65, Y:0.87, Z:-1.02 [[ 9.95721561e-01 -4.19797052e-03 -9.23089958e-02 -1.66502273e+01] [ 4.42010385e-03 9.99987807e-01 2.20209704e-03 8.67689827e-01] [ 9.22986259e-02 -2.60069085e-03 9.95727975e-01 -1.01659086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.35534707 meters 0.02370657374609942 Centerline is valid? [True, True] Translation: X:-16.71, Y:0.87, Z:-1.02 [[ 9.95672070e-01 -2.74211885e-03 -9.28956966e-02 -1.67083020e+01] [ 2.96352538e-03 9.99993088e-01 2.24552442e-03 8.68486908e-01] [ 9.28888970e-02 -2.51110470e-03 9.95673313e-01 -1.02268841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.41534707 meters 0.021921991953678017 Centerline is valid? [True, True] Translation: X:-16.77, Y:0.87, Z:-1.02 [[ 9.95711463e-01 2.11410314e-03 -9.24889926e-02 -1.67673536e+01] [-1.91348871e-03 9.99995621e-01 2.25768741e-03 8.72393778e-01] [ 9.24933606e-02 -2.07102858e-03 9.95711147e-01 -1.01994126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.47534707 meters 0.020716321561905417 Centerline is valid? [True, True] Translation: X:-16.83, Y:0.88, Z:-1.02 [[ 9.95559771e-01 4.90212457e-03 -9.40037814e-02 -1.68250667e+01] [-4.70655282e-03 9.99986274e-01 2.30206315e-03 8.75321274e-01] [ 9.40137761e-02 -1.84940770e-03 9.95569179e-01 -1.01794527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.53534707 meters 0.020206178128864164 Centerline is valid? [True, True] Translation: X:-16.88, Y:0.87, Z:-1.02 [[ 9.95683425e-01 1.04920913e-02 -9.22194837e-02 -1.68844565e+01] [-1.03269101e-02 9.99944104e-01 2.26819306e-03 8.74818757e-01] [ 9.22381271e-02 -1.30605991e-03 9.95736121e-01 -1.01834885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.59534707 meters 0.01908448689843793 Centerline is valid? [True, True] Translation: X:-16.94, Y:0.87, Z:-1.02 [[ 9.95775347e-01 1.51900484e-02 -9.05578334e-02 -1.69435916e+01] [-1.50489407e-02 9.99884247e-01 2.24084414e-03 8.74009235e-01] [ 9.05813896e-02 -8.68577892e-04 9.95888677e-01 -1.01545706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.65534707 meters 0.01769085525529692 Centerline is valid? [True, True] Translation: X:-17.00, Y:0.87, Z:-1.01 [[ 9.95741821e-01 1.78492661e-02 -9.04413026e-02 -1.70015233e+01] [-1.77175079e-02 9.99840479e-01 2.25953412e-03 8.71933783e-01] [ 9.04672064e-02 -6.47518125e-04 9.95899224e-01 -1.01007737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.71534707 meters 0.016913535411460193 Centerline is valid? [True, True] Translation: X:-17.06, Y:0.87, Z:-1.01 [[ 9.95855414e-01 2.10734746e-02 -8.84754342e-02 -1.70604932e+01] [-2.09588760e-02 9.99777865e-01 2.22415826e-03 8.68678487e-01] [ 8.85026514e-02 -3.60594393e-04 9.96075876e-01 -1.00793682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.77534707 meters 0.017089593691195313 Centerline is valid? [True, True] Translation: X:-17.12, Y:0.87, Z:-1.01 [[ 9.95900971e-01 2.24516475e-02 -8.76195117e-02 -1.71194761e+01] [-2.23422685e-02 9.99747896e-01 2.22896082e-03 8.66440388e-01] [ 8.76474663e-02 -2.62205586e-04 9.96151521e-01 -1.01101366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.83534707 meters 0.01771285140127364 Centerline is valid? [True, True] Translation: X:-17.18, Y:0.87, Z:-1.01 [[ 9.95989003e-01 2.35104365e-02 -8.63317219e-02 -1.71778769e+01] [-2.34063453e-02 9.99723574e-01 2.21789882e-03 8.65047875e-01] [ 8.63600013e-02 -1.88292738e-04 9.96263978e-01 -1.01234429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.89534707 meters 0.017337392080558803 Centerline is valid? [True, True] Translation: X:-17.24, Y:0.86, Z:-1.02 [[ 9.95943125e-01 2.23323238e-02 -8.71697113e-02 -1.72354048e+01] [-2.22208897e-02 9.99750557e-01 2.24861102e-03 8.62257920e-01] [ 8.71981841e-02 -3.02500148e-04 9.96190938e-01 -1.01578185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.95534707 meters 0.017588385468093208 Centerline is valid? [True, True] Translation: X:-17.29, Y:0.86, Z:-1.02 [[ 9.96058919e-01 2.10480780e-02 -8.61603696e-02 -1.72932995e+01] [-2.09336130e-02 9.99778377e-01 2.23190097e-03 8.58797333e-01] [ 8.61882516e-02 -4.19457034e-04 9.96278781e-01 -1.01737996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.01534707 meters 0.017941989963744832 Centerline is valid? [True, True] Translation: X:-17.35, Y:0.85, Z:-1.02 [[ 9.96215350e-01 2.04946591e-02 -8.44686050e-02 -1.73521284e+01] [-2.03815549e-02 9.99789851e-01 2.20122338e-03 8.54967555e-01] [ 8.44959674e-02 -4.71291010e-04 9.96423710e-01 -1.01805660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.07534707 meters 0.017838814940864738 Centerline is valid? [True, True] Translation: X:-17.41, Y:0.85, Z:-1.02 [[ 9.96247424e-01 1.83251360e-02 -8.45887626e-02 -1.74110722e+01] [-1.82016078e-02 9.99831847e-01 2.23138020e-03 8.51624789e-01] [ 8.46154291e-02 -6.83355294e-04 9.96413449e-01 -1.02156291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.13534707 meters 0.019209564582745215 Centerline is valid? [True, True] Translation: X:-17.47, Y:0.85, Z:-1.02 [[ 9.96315203e-01 1.86128804e-02 -8.37232146e-02 -1.74703141e+01] [-1.84906367e-02 9.99826535e-01 2.23533352e-03 8.50350860e-01] [ 8.37502975e-02 -6.79001229e-04 9.96486541e-01 -1.02238256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.19534707 meters 0.01908176760431491 Centerline is valid? [True, True] Translation: X:-17.53, Y:0.85, Z:-1.03 [[ 9.96418958e-01 1.45885832e-02 -8.32852576e-02 -1.75284732e+01] [-1.44513426e-02 9.99893041e-01 2.25047160e-03 8.46610628e-01] [ 8.33091807e-02 -1.03882878e-03 9.96523207e-01 -1.02717869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.25534707 meters 0.019411882481851574 Centerline is valid? [True, True] Translation: X:-17.59, Y:0.84, Z:-1.03 [[ 9.96626622e-01 1.33414676e-02 -8.09776637e-02 -1.75870397e+01] [-1.32056137e-02 9.99910353e-01 2.21302251e-03 8.44635091e-01] [ 8.09999292e-02 -1.13619740e-03 9.96713460e-01 -1.02921110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.31534707 meters 0.01950684264579661 Centerline is valid? [True, True] Translation: X:-17.64, Y:0.84, Z:-1.03 [[ 9.96719475e-01 1.26484783e-02 -7.99393781e-02 -1.76446427e+01] [-1.25118249e-02 9.99919281e-01 2.21014664e-03 8.44905888e-01] [ 7.99608805e-02 -1.20270870e-03 9.96797277e-01 -1.03205209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.37534707 meters 0.020481039954630485 Centerline is valid? [True, True] Translation: X:-17.70, Y:0.84, Z:-1.04 [[ 9.96823354e-01 1.00238158e-02 -7.90109111e-02 -1.77033452e+01] [-9.87992830e-03 9.99948746e-01 2.21183110e-03 8.44102100e-01] [ 7.90290325e-02 -1.42418276e-03 9.96871297e-01 -1.03519556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.43534707 meters 0.02046107919344435 Centerline is valid? [True, True] Translation: X:-17.76, Y:0.84, Z:-1.04 [[ 9.96914327e-01 8.40851402e-03 -7.80456436e-02 -1.77616610e+01] [-8.26131921e-03 9.99963435e-01 2.20869587e-03 8.43462824e-01] [ 7.80613617e-02 -1.55712058e-03 9.96947340e-01 -1.03817862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.49534707 meters 0.020861536455785087 Centerline is valid? [True, True] Translation: X:-17.82, Y:0.84, Z:-1.04 [[ 9.96988140e-01 4.89139690e-03 -7.73997551e-02 -1.78194587e+01] [-4.73441752e-03 9.99986347e-01 2.21153149e-03 8.42310719e-01] [ 7.74095158e-02 -1.83842791e-03 9.96997687e-01 -1.03889326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.55534707 meters 0.02128150486114863 Centerline is valid? [True, True] Translation: X:-17.88, Y:0.84, Z:-1.04 [[ 9.97107297e-01 1.89120312e-03 -7.59833028e-02 -1.78775656e+01] [-1.73043741e-03 9.99996123e-01 2.18158482e-03 8.43556074e-01] [ 7.59871340e-02 -2.04378980e-03 9.97106704e-01 -1.04007015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.61534707 meters 0.021172113483601963 Centerline is valid? [True, True] Translation: X:-17.94, Y:0.84, Z:-1.04 [[ 9.97126222e-01 -3.04680253e-03 -7.56968639e-02 -1.79359683e+01] [ 3.22224348e-03 9.99992398e-01 2.19565367e-03 8.43525764e-01] [ 7.56895988e-02 -2.43325758e-03 9.97128459e-01 -1.04150650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.67534707 meters 0.026048822632343458 Centerline is valid? [True, True] Translation: X:-18.00, Y:0.84, Z:-1.05 [[ 9.97156016e-01 -1.05303269e-02 -7.46256816e-02 -1.79959722e+01] [ 1.07222076e-02 9.99940159e-01 2.17106264e-03 8.36872823e-01] [ 7.45983539e-02 -2.96504023e-03 9.97209253e-01 -1.04565296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.73534707 meters 0.025463079172904714 Centerline is valid? [True, True] Translation: X:-18.05, Y:0.84, Z:-1.05 [[ 9.97193114e-01 -1.33532741e-02 -7.36721289e-02 -1.80540591e+01] [ 1.35481320e-02 9.99905917e-01 2.14580666e-03 8.38836954e-01] [ 7.36365441e-02 -3.13790336e-03 9.97280208e-01 -1.04610616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.79534707 meters 0.027914450661634248 Centerline is valid? [True, True] Translation: X:-18.11, Y:0.84, Z:-1.05 [[ 9.97082412e-01 -1.86087133e-02 -7.40295914e-02 -1.81141901e+01] [ 1.88204889e-02 9.99820537e-01 2.16406367e-03 8.37192508e-01] [ 7.39760354e-02 -3.55102292e-03 9.97253697e-01 -1.04807776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.85534707 meters 0.030927935353168408 Centerline is valid? [True, True] Translation: X:-18.17, Y:0.83, Z:-1.05 [[ 9.97050820e-01 -2.06721068e-02 -7.39075556e-02 -1.81731789e+01] [ 2.08891241e-02 9.99779455e-01 2.16446954e-03 8.33768729e-01] [ 7.38465116e-02 -3.70195024e-03 9.97262748e-01 -1.04961879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.91534707 meters 0.02897393163819679 Centerline is valid? [True, True] Translation: X:-18.23, Y:0.84, Z:-1.05 [[ 9.96951539e-01 -2.24614379e-02 -7.47202340e-02 -1.82306581e+01] [ 2.26887933e-02 9.99740166e-01 2.19519956e-03 8.39605482e-01] [ 7.46515118e-02 -3.88381953e-03 9.97202120e-01 -1.05261333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97534707 meters 0.031352784210911575 Centerline is valid? [True, True] Translation: X:-18.29, Y:0.84, Z:-1.06 [[ 9.96957608e-01 -2.23291876e-02 -7.46788836e-02 -1.82883901e+01] [ 2.25567094e-02 9.99743134e-01 2.20452015e-03 8.37354464e-01] [ 7.46104760e-02 -3.88232301e-03 9.97205197e-01 -1.05610325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.03534707 meters 0.02939503213666615 Centerline is valid? [True, True] Translation: X:-18.35, Y:0.85, Z:-1.06 [[ 9.96846245e-01 -2.17136828e-02 -7.63287565e-02 -1.83462294e+01] [ 2.19515560e-02 9.99756439e-01 2.27872062e-03 8.46227861e-01] [ 7.62606863e-02 -3.94706906e-03 9.97080101e-01 -1.05913734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.09534707 meters 0.029571667363704146 Centerline is valid? [True, True] Translation: X:-18.40, Y:0.85, Z:-1.06 [[ 9.96817268e-01 -2.08438091e-02 -7.69471909e-02 -1.84048675e+01] [ 2.10838120e-02 9.99775048e-01 2.30791608e-03 8.48993809e-01] [ 7.68817757e-02 -3.92291071e-03 9.97032499e-01 -1.06300865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15534707 meters 0.03022680488042655 Centerline is valid? [True, True] Translation: X:-18.46, Y:0.85, Z:-1.07 [[ 9.96741289e-01 -1.87140303e-02 -7.84639222e-02 -1.84627349e+01] [ 1.89588045e-02 9.99817443e-01 2.37573339e-03 8.52091780e-01] [ 7.84051385e-02 -3.85557372e-03 9.96914123e-01 -1.07045450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21534707 meters 0.027626469626982647 Centerline is valid? [True, True] Translation: X:-18.52, Y:0.86, Z:-1.07 [[ 9.96611101e-01 -1.71945139e-02 -8.04404263e-02 -1.85198793e+01] [ 1.74476254e-02 9.99844790e-01 2.44469149e-03 8.59404164e-01] [ 8.03859058e-02 -3.83990111e-03 9.96756420e-01 -1.07336717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.27534707 meters 0.028240503760683055 Centerline is valid? [True, True] Translation: X:-18.58, Y:0.86, Z:-1.08 [[ 9.96633699e-01 -1.48576844e-02 -8.06257979e-02 -1.85778623e+01] [ 1.51050812e-02 9.99882887e-01 2.45936912e-03 8.59569573e-01] [ 8.05798150e-02 -3.66894936e-03 9.96741407e-01 -1.07824834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33534707 meters 0.02688987870370196 Centerline is valid? [True, True] Translation: X:-18.63, Y:0.86, Z:-1.08 [[ 9.96510373e-01 -1.41887636e-02 -8.22542107e-02 -1.86344948e+01] [ 1.44448615e-02 9.99892494e-01 2.51921573e-03 8.64558218e-01] [ 8.22096234e-02 -3.69857529e-03 9.96608197e-01 -1.08108450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.39534707 meters 0.025544498530398047 Centerline is valid? [True, True] Translation: X:-18.69, Y:0.87, Z:-1.09 [[ 9.96506578e-01 -8.57068454e-03 -8.30733655e-02 -1.86945695e+01] [ 8.81335529e-03 9.99957898e-01 2.55488409e-03 8.67818606e-01] [ 8.30479708e-02 -3.27811389e-03 9.96540159e-01 -1.08646197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.45534707 meters 0.023420314118076522 Centerline is valid? [True, True] Translation: X:-18.75, Y:0.88, Z:-1.09 [[ 9.96491232e-01 -3.15268332e-03 -8.36378247e-02 -1.87537043e+01] [ 3.37984149e-03 9.99990974e-01 2.57452350e-03 8.75256758e-01] [ 8.36289531e-02 -2.84817268e-03 9.96492893e-01 -1.09052990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51534707 meters 0.02074281428191588 Centerline is valid? [True, True] Translation: X:-18.81, Y:0.89, Z:-1.09 [[ 9.96514089e-01 4.88226975e-03 -8.32816546e-02 -1.88128826e+01] [-4.68472385e-03 9.99985731e-01 2.56727332e-03 8.85933791e-01] [ 8.32930004e-02 -2.16817248e-03 9.96522742e-01 -1.08831719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.57534707 meters 0.01964579466502217 Centerline is valid? [True, True] Translation: X:-18.87, Y:0.89, Z:-1.10 [[ 9.96370884e-01 8.00769548e-03 -8.47404215e-02 -1.88706407e+01] [-7.81397133e-03 9.99966045e-01 2.61752365e-03 8.87315561e-01] [ 8.47585045e-02 -1.94586512e-03 9.96399623e-01 -1.09719995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.63534707 meters 0.019333763227809674 Centerline is valid? [True, True] Translation: X:-18.93, Y:0.89, Z:-1.10 [[ 9.96442000e-01 1.03404424e-02 -8.36445791e-02 -1.89287637e+01] [-1.01590159e-02 9.99945030e-01 2.59435584e-03 8.85493260e-01] [ 8.36668080e-02 -1.73537851e-03 9.96492275e-01 -1.10231904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.69534707 meters 0.019814728869735575 Centerline is valid? [True, True] Translation: X:-18.99, Y:0.88, Z:-1.10 [[ 9.96385895e-01 7.18671841e-03 -8.46374545e-02 -1.89868090e+01] [-6.98845011e-03 9.99972099e-01 2.63860457e-03 8.80952649e-01] [ 8.46540560e-02 -2.03758375e-03 9.96408319e-01 -1.10362540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.75534707 meters 0.022303026446368786 Centerline is valid? [True, True] Translation: X:-19.05, Y:0.87, Z:-1.11 [[ 9.96447508e-01 5.33284336e-04 -8.42144871e-02 -1.90471334e+01] [-3.12654235e-04 9.99996485e-01 2.63302592e-03 8.72453749e-01] [ 8.42155952e-02 -2.59734210e-03 9.96444172e-01 -1.10988876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.81534707 meters 0.024785721107466546 Centerline is valid? [True, True] Translation: X:-19.11, Y:0.86, Z:-1.11 [[ 9.96475783e-01 -6.33343517e-03 -8.36415059e-02 -1.91074137e+01] [ 6.57538413e-03 9.99974956e-01 2.61753409e-03 8.63604258e-01] [ 8.36228332e-02 -3.15828437e-03 9.96492472e-01 -1.11209242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.87534707 meters 0.027477968831758737 Centerline is valid? [True, True] Translation: X:-19.17, Y:0.85, Z:-1.12 [[ 9.96457829e-01 -1.18214038e-02 -8.32589301e-02 -1.91678967e+01] [ 1.20805529e-02 9.99923623e-01 2.60945731e-03 8.52213499e-01] [ 8.32217235e-02 -3.60602807e-03 9.96524531e-01 -1.11784155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.93534707 meters 0.026694493350145235 Centerline is valid? [True, True] Translation: X:-19.23, Y:0.85, Z:-1.12 [[ 9.96338712e-01 -1.43498291e-02 -8.42808029e-02 -1.92259202e+01] [ 1.46247176e-02 9.99889555e-01 2.64506350e-03 8.50351654e-01] [ 8.42335382e-02 -3.86796210e-03 9.96438533e-01 -1.12057046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.99534707 meters 0.025211113255571592 Centerline is valid? [True, True] Translation: X:-19.29, Y:0.85, Z:-1.12 [[ 9.96395881e-01 -1.03790651e-02 -8.41874351e-02 -1.92851577e+01] [ 1.06400006e-02 9.99939879e-01 2.65136530e-03 8.52500041e-01] [ 8.41548550e-02 -3.53756382e-03 9.96446409e-01 -1.12377697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.05534707 meters 0.024607967206039992 Centerline is valid? [True, True] Translation: X:-19.34, Y:0.86, Z:-1.13 [[ 9.96443299e-01 -8.15998449e-03 -8.38699344e-02 -1.93439554e+01] [ 8.41216500e-03 9.99961096e-01 2.65385232e-03 8.55316969e-01] [ 8.38450161e-02 -3.34994109e-03 9.96473176e-01 -1.12692445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.11534707 meters 0.023698149213539448 Centerline is valid? [True, True] Translation: X:-19.40, Y:0.86, Z:-1.13 [[ 9.96318845e-01 -6.72367948e-03 -8.54608123e-02 -1.94028708e+01] [ 6.98270524e-03 9.99971888e-01 2.73236766e-03 8.59066389e-01] [ 8.54400382e-02 -3.31905706e-03 9.96337786e-01 -1.13071404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.17534707 meters 0.024101946571178926 Centerline is valid? [True, True] Translation: X:-19.46, Y:0.86, Z:-1.13 [[ 9.96463475e-01 -4.54710198e-03 -8.39039180e-02 -1.94610194e+01] [ 4.79099510e-03 9.99984863e-01 2.70569582e-03 8.59102534e-01] [ 8.38903448e-02 -3.09811032e-03 9.96470176e-01 -1.13442400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.23534707 meters 0.023356817444485638 Centerline is valid? [True, True] Translation: X:-19.52, Y:0.86, Z:-1.14 [[ 9.96412191e-01 -4.54964156e-03 -8.45106286e-02 -1.95196022e+01] [ 4.79828058e-03 9.99984736e-01 2.73921942e-03 8.60648254e-01] [ 8.44968762e-02 -3.13489733e-03 9.96418813e-01 -1.14024148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.29534707 meters 0.02369145369730734 Centerline is valid? [True, True] Translation: X:-19.58, Y:0.86, Z:-1.14 [[ 9.96581955e-01 -1.46653656e-03 -8.25969459e-02 -1.95787597e+01] [ 1.69531200e-03 9.99994919e-01 2.69971531e-03 8.61891803e-01] [ 8.25925670e-02 -2.83051516e-03 9.96579378e-01 -1.14236201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.35534707 meters 0.023540450364961166 Centerline is valid? [True, True] Translation: X:-19.64, Y:0.86, Z:-1.15 [[ 9.96520160e-01 -1.88664941e-03 -8.33307314e-02 -1.96374112e+01] [ 2.12201766e-03 9.99994006e-01 2.73602870e-03 8.62731214e-01] [ 8.33250699e-02 -2.90333704e-03 9.96518190e-01 -1.15054635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.41534707 meters 0.02286010113884259 Centerline is valid? [True, True] Translation: X:-19.70, Y:0.86, Z:-1.16 [[ 9.96487259e-01 -7.01195138e-04 -8.37415750e-02 -1.96957175e+01] [ 9.36974391e-04 9.99995707e-01 2.77629020e-03 8.63427594e-01] [ 8.37392688e-02 -2.84500153e-03 9.96483638e-01 -1.15500158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.47534707 meters 0.019948740003439564 Centerline is valid? [True, True] Translation: X:-19.75, Y:0.87, Z:-1.16 [[ 9.96563538e-01 4.68387862e-04 -8.28305261e-02 -1.97541613e+01] [-2.39530000e-04 9.99996127e-01 2.77288089e-03 8.70403098e-01] [ 8.28315040e-02 -2.74351160e-03 9.96559790e-01 -1.15958577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.53534707 meters 0.023738012444600366 Centerline is valid? [True, True] Translation: X:-19.81, Y:0.86, Z:-1.17 [[ 9.96626041e-01 1.53057420e-03 -8.20621181e-02 -1.98128132e+01] [-1.30714040e-03 9.99995291e-01 2.77639472e-03 8.63848764e-01] [ 8.20659812e-02 -2.65976057e-03 9.96623349e-01 -1.16916478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.59534707 meters 0.021831987916981103 Centerline is valid? [True, True] Translation: X:-19.87, Y:0.87, Z:-1.17 [[ 9.96769171e-01 6.18194762e-03 -8.00812308e-02 -1.98705231e+01] [-5.98219263e-03 9.99978369e-01 2.73408280e-03 8.70134211e-01] [ 8.00964005e-02 -2.24618810e-03 9.96784591e-01 -1.17236089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.65534707 meters 0.018901916813905063 Centerline is valid? [True, True] Translation: X:-19.93, Y:0.88, Z:-1.18 [[ 9.96431746e-01 1.06338648e-02 -8.37299037e-02 -1.99283743e+01] [-1.04300999e-02 9.99941484e-01 2.87065807e-03 8.75901420e-01] [ 8.37555304e-02 -1.98710357e-03 9.96484351e-01 -1.18080459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.71534707 meters 0.016366526537365044 Centerline is valid? [True, True] Translation: X:-19.99, Y:0.89, Z:-1.19 [[ 9.96409941e-01 1.99920086e-02 -8.22651201e-02 -1.99873393e+01] [-1.98253738e-02 9.99799419e-01 2.84201816e-03 8.85089469e-01] [ 8.23054369e-02 -1.20087839e-03 9.96606428e-01 -1.18769574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.77534707 meters 0.014915832494710023 Centerline is valid? [True, True] Translation: X:-20.05, Y:0.90, Z:-1.19 [[ 9.96114388e-01 3.11794648e-02 -8.23648438e-02 -2.00458411e+01] [-3.10498671e-02 9.99513761e-01 2.85418784e-03 8.96524877e-01] [ 8.24137869e-02 -2.85680114e-04 9.96598157e-01 -1.19197835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.83534707 meters 0.01634319337852262 Centerline is valid? [True, True] Translation: X:-20.10, Y:0.90, Z:-1.19 [[ 9.95947450e-01 3.96100796e-02 -8.07447719e-02 -2.01030645e+01] [-3.95112924e-02 9.99215140e-01 2.82148679e-03 9.04353735e-01] [ 8.07931579e-02 3.80277719e-04 9.96730817e-01 -1.19448337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.89534707 meters 0.01446447355623285 Centerline is valid? [True, True] Translation: X:-20.16, Y:0.90, Z:-1.20 [[ 9.95892567e-01 3.91486594e-02 -8.16417616e-02 -2.01594983e+01] [-3.90450975e-02 9.99233341e-01 2.86524175e-03 9.03220846e-01] [ 8.16913406e-02 3.34237577e-04 9.96657621e-01 -1.19937369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.95534707 meters 0.014079073080896393 Centerline is valid? [True, True] Translation: X:-20.22, Y:0.90, Z:-1.21 [[ 9.96053139e-01 3.53022983e-02 -8.14364317e-02 -2.02169110e+01] [-3.51843478e-02 9.99376680e-01 2.88339775e-03 8.99842506e-01] [ 8.14874613e-02 -6.72964056e-06 9.96674367e-01 -1.20643245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.01534707 meters 0.013807625306419158 Centerline is valid? [True, True] Translation: X:-20.28, Y:0.90, Z:-1.21 [[ 9.96007635e-01 3.58347669e-02 -8.17597727e-02 -2.02751337e+01] [-3.57148373e-02 9.99357728e-01 2.92932118e-03 9.00497784e-01] [ 8.18122323e-02 2.41071904e-06 9.96647761e-01 -1.20914254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.07534707 meters 0.01833863414437626 Centerline is valid? [True, True] Translation: X:-20.33, Y:0.90, Z:-1.21 [[ 9.96389312e-01 3.47548312e-02 -7.74625117e-02 -2.03337430e+01] [-3.46415486e-02 9.99395862e-01 2.80607571e-03 9.02325456e-01] [ 7.75132383e-02 -1.12522475e-04 9.96991317e-01 -1.21031850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135347069999998 meters 0.013383071738519122 Centerline is valid? [True, True] Translation: X:-20.39, Y:0.90, Z:-1.22 [[ 9.96270734e-01 3.31708195e-02 -7.96512433e-02 -2.03913745e+01] [-3.30435557e-02 9.99449660e-01 2.91566967e-03 9.03210979e-01] [ 7.97041232e-02 -2.72836063e-04 9.96818528e-01 -1.22025845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.19534707 meters 0.013300753129286776 Centerline is valid? [True, True] Translation: X:-20.45, Y:0.91, Z:-1.23 [[ 9.96168033e-01 3.36438929e-02 -8.07300351e-02 -2.04490285e+01] [-3.35123886e-02 9.99433848e-01 2.98371117e-03 9.06722626e-01] [ 8.07847133e-02 -2.66821377e-04 9.96731538e-01 -1.22503783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.25534707 meters 0.0132725915345495 Centerline is valid? [True, True] Translation: X:-20.51, Y:0.91, Z:-1.23 [[ 9.96185372e-01 3.46106823e-02 -8.01049672e-02 -2.05063307e+01] [-3.44817833e-02 9.99400847e-01 2.99228741e-03 9.07602391e-01] [ 8.01605371e-02 -2.18710827e-04 9.96781942e-01 -1.23253221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.31534707 meters 0.013830070441892613 Centerline is valid? [True, True] Translation: X:-20.56, Y:0.90, Z:-1.24 [[ 9.96462419e-01 2.98243093e-02 -7.85694442e-02 -2.05641238e+01] [-2.96832764e-02 9.99554964e-01 2.96256417e-03 8.97423901e-01] [ 7.86228344e-02 -6.19885332e-04 9.96904241e-01 -1.23564821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.37534707 meters 0.014491534775480411 Centerline is valid? [True, True] Translation: X:-20.62, Y:0.89, Z:-1.24 [[ 9.96558486e-01 2.49592340e-02 -7.90456844e-02 -2.06219651e+01] [-2.48004724e-02 9.99687950e-01 2.98971776e-03 8.88911931e-01] [ 7.90956393e-02 -1.01905829e-03 9.96866511e-01 -1.24036279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.43534707 meters 0.016896047377120953 Centerline is valid? [True, True] Translation: X:-20.68, Y:0.87, Z:-1.25 [[ 9.96919459e-01 1.82543805e-02 -7.62782367e-02 -2.06816485e+01] [-1.80861231e-02 9.99832238e-01 2.89610882e-03 8.71810195e-01] [ 7.63183068e-02 -1.50760966e-03 9.97082365e-01 -1.24533680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.49534707 meters 0.017078841531785998 Centerline is valid? [True, True] Translation: X:-20.74, Y:0.86, Z:-1.25 [[ 9.97111005e-01 1.19041985e-02 -7.50195625e-02 -2.07400787e+01] [-1.17218769e-02 9.99927177e-01 2.87017403e-03 8.62270092e-01] [ 7.50482664e-02 -1.98251204e-03 9.97177932e-01 -1.24576481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.55534707 meters 0.017985018869653483 Centerline is valid? [True, True] Translation: X:-20.80, Y:0.85, Z:-1.25 [[ 9.97154976e-01 1.00503344e-02 -7.47057168e-02 -2.07991824e+01] [-9.86350893e-03 9.99947238e-01 2.86935404e-03 8.51286015e-01] [ 7.47306131e-02 -2.12433016e-03 9.97201496e-01 -1.25059838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.61534707 meters 0.019260114398880042 Centerline is valid? [True, True] Translation: X:-20.86, Y:0.84, Z:-1.25 [[ 9.97364601e-01 1.36488310e-02 -7.12570193e-02 -2.08582653e+01] [-1.34863532e-02 9.99905244e-01 2.76080054e-03 8.42589936e-01] [ 7.12879490e-02 -1.79252740e-03 9.97454167e-01 -1.24847458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.67534707 meters 0.015215322402675304 Centerline is valid? [True, True] Translation: X:-20.92, Y:0.84, Z:-1.26 [[ 9.97266201e-01 1.53213237e-02 -7.22867934e-02 -2.09161057e+01] [-1.51567615e-02 9.99881140e-01 2.82453603e-03 8.44897705e-01] [ 7.23214770e-02 -1.72118063e-03 9.97379888e-01 -1.25546106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.73534707 meters 0.01264816024400598 Centerline is valid? [True, True] Translation: X:-20.98, Y:0.84, Z:-1.26 [[ 9.96879678e-01 2.87721082e-02 -7.35056012e-02 -2.09753180e+01] [-2.86377382e-02 9.99585703e-01 2.88153250e-03 8.43569127e-01] [ 7.35580558e-02 -7.67507025e-04 9.97290641e-01 -1.25880719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.79534707 meters 0.014408659073195156 Centerline is valid? [True, True] Translation: X:-21.03, Y:0.84, Z:-1.26 [[ 9.96845221e-01 3.35024526e-02 -7.19526984e-02 -2.10346488e+01] [-3.33854665e-02 9.99438548e-01 2.82824520e-03 8.39647300e-01] [ 7.20070536e-02 -4.17148311e-04 9.97404036e-01 -1.25812645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.85534707 meters 0.011988038544087264 Centerline is valid? [True, True] Translation: X:-21.09, Y:0.83, Z:-1.26 [[ 9.96979145e-01 3.29049496e-02 -7.03551578e-02 -2.10915308e+01] [-3.27898643e-02 9.99458373e-01 2.79036417e-03 8.27398507e-01] [ 7.04088683e-02 -4.74998804e-04 9.97518103e-01 -1.26378101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.91534707 meters 0.012238619968022009 Centerline is valid? [True, True] Translation: X:-21.15, Y:0.82, Z:-1.27 [[ 9.96980795e-01 3.32575945e-02 -7.01657038e-02 -2.11496816e+01] [-3.31429607e-02 9.99446706e-01 2.79763271e-03 8.15641726e-01] [ 7.02199241e-02 -4.63686922e-04 9.97531427e-01 -1.26656747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.97534707 meters 0.01208585804814365 Centerline is valid? [True, True] Translation: X:-21.21, Y:0.81, Z:-1.27 [[ 9.96858914e-01 3.70782845e-02 -6.99821910e-02 -2.12080502e+01] [-3.69714403e-02 9.99312339e-01 2.82182280e-03 8.11545818e-01] [ 7.00386953e-02 -2.25616807e-04 9.97544250e-01 -1.27099927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.03534707 meters 0.011839900861660375 Centerline is valid? [True, True] Translation: X:-21.27, Y:0.81, Z:-1.27 [[ 9.96552912e-01 4.61119824e-02 -6.89635989e-02 -2.12654139e+01] [-4.60280144e-02 9.98936206e-01 2.80694456e-03 8.11517180e-01] [ 6.90196696e-02 3.76988746e-04 9.97615228e-01 -1.27338800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.09534707 meters 0.0169320499423528 Centerline is valid? [True, True] Translation: X:-21.32, Y:0.81, Z:-1.27 [[ 9.96090220e-01 5.46468474e-02 -6.94117868e-02 -2.13249825e+01] [-5.45815023e-02 9.98505283e-01 2.83907399e-03 8.09985847e-01] [ 6.94631822e-02 9.60625767e-04 9.97584053e-01 -1.27117148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.15534707 meters 0.01602554218726628 Centerline is valid? [True, True] Translation: X:-21.38, Y:0.80, Z:-1.28 [[ 9.96233949e-01 5.50102539e-02 -6.70208306e-02 -2.13825246e+01] [-5.49485807e-02 9.98485358e-01 2.76468628e-03 8.00412830e-01] [ 6.70714041e-02 9.28425191e-04 9.97747746e-01 -1.27695138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.21534707 meters 0.014978022353947459 Centerline is valid? [True, True] Translation: X:-21.44, Y:0.79, Z:-1.28 [[ 9.96533069e-01 5.08995282e-02 -6.58109431e-02 -2.14405783e+01] [-5.08292419e-02 9.98703592e-01 2.74302744e-03 7.86392847e-01] [ 6.58652441e-02 6.11602796e-04 9.97828340e-01 -1.28005267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.27534707 meters 0.014744279691398477 Centerline is valid? [True, True] Translation: X:-21.50, Y:0.77, Z:-1.28 [[ 9.97024302e-01 4.13424868e-02 -6.50641211e-02 -2.14998314e+01] [-4.12528779e-02 9.99145034e-01 2.72067736e-03 7.67672627e-01] [ 6.51209730e-02 -2.84991974e-05 9.97877376e-01 -1.28409577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.33534707 meters 0.012712737382058118 Centerline is valid? [True, True] Translation: X:-21.56, Y:0.75, Z:-1.29 [[ 9.97465733e-01 3.24590264e-02 -6.33128945e-02 -2.15595337e+01] [-3.23547493e-02 9.99472877e-01 2.67185410e-03 7.48912437e-01] [ 6.33662466e-02 -6.16610087e-04 9.97990150e-01 -1.28775485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.39534707 meters 0.01387310043427414 Centerline is valid? [True, True] Translation: X:-21.62, Y:0.74, Z:-1.29 [[ 9.97646868e-01 2.97858775e-02 -6.17537661e-02 -2.16188386e+01] [-2.96803011e-02 9.99555992e-01 2.62644517e-03 7.36488291e-01] [ 6.18045779e-02 -7.87394422e-04 9.98087959e-01 -1.28931532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.45534707 meters 0.012883800989799394 Centerline is valid? [True, True] Translation: X:-21.68, Y:0.73, Z:-1.29 [[ 9.97645164e-01 3.38597422e-02 -5.96459898e-02 -2.16763602e+01] [-3.37673082e-02 9.99426450e-01 2.55725859e-03 7.32892510e-01] [ 5.96983680e-02 -5.37152142e-04 9.98216317e-01 -1.29160973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.51534707 meters 0.014196088155138864 Centerline is valid? [True, True] Translation: X:-21.74, Y:0.73, Z:-1.29 [[ 9.97466288e-01 3.89343989e-02 -5.95408807e-02 -2.17351157e+01] [-3.88506824e-02 9.99241739e-01 2.56345809e-03 7.32008395e-01] [ 5.95955399e-02 -2.43759179e-04 9.98222576e-01 -1.29434717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.57534707 meters 0.012360966957264383 Centerline is valid? [True, True] Translation: X:-21.79, Y:0.73, Z:-1.30 [[ 9.97264681e-01 4.36620131e-02 -5.96387820e-02 -2.17929900e+01] [-4.35851473e-02 9.99046359e-01 2.58971192e-03 7.30900431e-01] [ 5.96949801e-02 1.67368622e-05 9.98216664e-01 -1.29911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635347069999998 meters 0.012488504020074969 Centerline is valid? [True, True] Translation: X:-21.85, Y:0.73, Z:-1.30 [[ 9.97332823e-01 4.34419089e-02 -5.86518527e-02 -2.18513240e+01] [-4.33657483e-02 9.99055954e-01 2.57133465e-03 7.25121976e-01] [ 5.87081864e-02 -2.09949639e-05 9.98275187e-01 -1.30322955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.69534707 meters 0.01248338161041416 Centerline is valid? [True, True] Translation: X:-21.91, Y:0.72, Z:-1.31 [[ 9.97426381e-01 3.89924450e-02 -6.01681336e-02 -2.19099288e+01] [-3.89025786e-02 9.99239455e-01 2.66472221e-03 7.17134486e-01] [ 6.02262771e-02 -3.17168678e-04 9.98184700e-01 -1.30762181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.75534707 meters 0.013259733778063458 Centerline is valid? [True, True] Translation: X:-21.97, Y:0.71, Z:-1.31 [[ 9.97752249e-01 3.48688410e-02 -5.72242429e-02 -2.19681181e+01] [-3.47792864e-02 9.99391738e-01 2.56046038e-03 7.10031208e-01] [ 5.72787158e-02 -5.64486772e-04 9.98358067e-01 -1.30859269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.81534707 meters 0.01335329470260018 Centerline is valid? [True, True] Translation: X:-22.03, Y:0.70, Z:-1.32 [[ 9.97670329e-01 3.38333904e-02 -5.92386355e-02 -2.20257428e+01] [-3.37352146e-02 9.99427274e-01 2.65688948e-03 7.04968065e-01] [ 5.92945996e-02 -6.52271721e-04 9.98240314e-01 -1.31528672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.87534707 meters 0.013915359808205836 Centerline is valid? [True, True] Translation: X:-22.08, Y:0.70, Z:-1.32 [[ 9.97650152e-01 3.23824235e-02 -6.03784192e-02 -2.20836640e+01] [-3.22760920e-02 9.99475247e-01 2.73578930e-03 6.99976842e-01] [ 6.04353270e-02 -7.80581196e-04 9.98171810e-01 -1.31736863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.93534707 meters 0.013732888741189008 Centerline is valid? [True, True] Translation: X:-22.14, Y:0.70, Z:-1.32 [[ 9.97641879e-01 3.40834385e-02 -5.95734923e-02 -2.21413995e+01] [-3.39813224e-02 9.99418749e-01 2.72666816e-03 6.98089780e-01] [ 5.96317993e-02 -6.95852301e-04 9.98220198e-01 -1.31842805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99534707 meters 0.013653245338065965 Centerline is valid? [True, True] Translation: X:-22.20, Y:0.70, Z:-1.32 [[ 9.97638880e-01 3.34731635e-02 -5.99684288e-02 -2.21982695e+01] [-3.33669543e-02 9.99439324e-01 2.77187561e-03 6.96458867e-01] [ 6.00275895e-02 -7.64367052e-04 9.98196426e-01 -1.32192498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.05534707 meters 0.013990719413939364 Centerline is valid? [True, True] Translation: X:-22.26, Y:0.70, Z:-1.33 [[ 9.97631472e-01 3.16709187e-02 -6.10606239e-02 -2.22559229e+01] [-3.15561953e-02 9.99497937e-01 2.84249281e-03 6.95433426e-01] [ 6.11199920e-02 -9.08919311e-04 9.98130012e-01 -1.32539360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.11534707 meters 0.01432845108652214 Centerline is valid? [True, True] Translation: X:-22.31, Y:0.69, Z:-1.33 [[ 9.97739043e-01 3.14817934e-02 -5.93775908e-02 -2.23140627e+01] [-3.13726082e-02 9.99503919e-01 2.77040165e-03 6.93890828e-01] [ 5.94353519e-02 -9.01308000e-04 9.98231750e-01 -1.32751129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.17534707 meters 0.016459485857185197 Centerline is valid? [True, True] Translation: X:-22.37, Y:0.69, Z:-1.33 [[ 9.97603720e-01 2.57351626e-02 -6.42224175e-02 -2.23730038e+01] [-2.55933900e-02 9.99667845e-01 3.02937122e-03 6.88575323e-01] [ 6.42790471e-02 -1.37844262e-03 9.97931012e-01 -1.33221493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.23534707 meters 0.017169737880583253 Centerline is valid? [True, True] Translation: X:-22.43, Y:0.69, Z:-1.33 [[ 9.97607973e-01 2.17581921e-02 -6.56118349e-02 -2.24306124e+01] [-2.15997480e-02 9.99761819e-01 3.12335261e-03 6.86774355e-01] [ 6.56641659e-02 -1.69868237e-03 9.97840334e-01 -1.33468907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.29534707 meters 0.018720162850792203 Centerline is valid? [True, True] Translation: X:-22.49, Y:0.69, Z:-1.34 [[ 9.97645494e-01 1.84179037e-02 -6.60624617e-02 -2.24895812e+01] [-1.82490163e-02 9.99828482e-01 3.15906881e-03 6.85108679e-01] [ 6.61093142e-02 -1.94605583e-03 9.97810489e-01 -1.33711040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.35534707 meters 0.019220581837734167 Centerline is valid? [True, True] Translation: X:-22.55, Y:0.69, Z:-1.34 [[ 9.97549448e-01 1.75410701e-02 -6.77304136e-02 -2.25478700e+01] [-1.73595690e-02 9.99843972e-01 3.26743475e-03 6.86322802e-01] [ 6.77771601e-02 -2.08365694e-03 9.97698309e-01 -1.34035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.41534707 meters 0.020229762108582353 Centerline is valid? [True, True] Translation: X:-22.61, Y:0.69, Z:-1.34 [[ 9.97417727e-01 1.54944678e-02 -7.01270270e-02 -2.26064979e+01] [-1.52927777e-02 9.99877237e-01 3.41206568e-03 6.87352151e-01] [ 7.01712861e-02 -2.33081776e-03 9.97532234e-01 -1.34307631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.47534707 meters 0.022176298732701247 Centerline is valid? [True, True] Translation: X:-22.67, Y:0.69, Z:-1.35 [[ 9.97359055e-01 1.41800429e-02 -7.12309061e-02 -2.26650995e+01] [-1.39665180e-02 9.99896356e-01 3.49483148e-03 6.86001296e-01] [ 7.12730803e-02 -2.49075409e-03 9.97453730e-01 -1.34709465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.53534707 meters 0.020822000161421928 Centerline is valid? [True, True] Translation: X:-22.72, Y:0.69, Z:-1.35 [[ 9.97390696e-01 1.72721406e-02 -7.00961667e-02 -2.27236770e+01] [-1.70710465e-02 9.99848268e-01 3.46690700e-03 6.90058719e-01] [ 7.01454118e-02 -2.26124587e-03 9.97534214e-01 -1.35007957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.59534707 meters 0.021754429272529324 Centerline is valid? [True, True] Translation: X:-22.78, Y:0.69, Z:-1.35 [[ 9.97210681e-01 1.22734512e-02 -7.36221483e-02 -2.27819962e+01] [-1.20359766e-02 9.99920836e-01 3.66839585e-03 6.94023539e-01] [ 7.36613440e-02 -2.77204906e-03 9.97279460e-01 -1.35373942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.65534707 meters 0.023001867822330747 Centerline is valid? [True, True] Translation: X:-22.84, Y:0.70, Z:-1.36 [[ 9.97220562e-01 1.11256377e-02 -7.36706918e-02 -2.28406352e+01] [-1.08840653e-02 9.99933996e-01 3.67974940e-03 6.95263607e-01] [ 7.37067689e-02 -2.86768515e-03 9.97275834e-01 -1.35758558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.71534707 meters 0.02711083671850407 Centerline is valid? [True, True] Translation: X:-22.90, Y:0.69, Z:-1.36 [[ 9.97067690e-01 4.83484216e-03 -7.63717580e-02 -2.29007166e+01] [-4.55458377e-03 9.99982242e-01 3.84341007e-03 6.92285537e-01] [ 7.63889841e-02 -3.48429843e-03 9.97072005e-01 -1.36139254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.77534707 meters 0.024783621231725245 Centerline is valid? [True, True] Translation: X:-22.96, Y:0.70, Z:-1.36 [[ 9.97129516e-01 3.13456939e-03 -7.56498715e-02 -2.29582355e+01] [-2.85430202e-03 9.99988658e-01 3.81263099e-03 6.99865877e-01] [ 7.56609644e-02 -3.58575931e-03 9.97127154e-01 -1.36328278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.83534707 meters 0.030451381779371928 Centerline is valid? [True, True] Translation: X:-23.02, Y:0.69, Z:-1.37 [[ 9.96985264e-01 -1.28047419e-03 -7.75805659e-02 -2.30183008e+01] [ 1.58938685e-03 9.99991053e-01 3.92021539e-03 6.92541004e-01] [ 7.75748520e-02 -4.03170251e-03 9.96978379e-01 -1.36714641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.89534707 meters 0.030911254215158883 Centerline is valid? [True, True] Translation: X:-23.08, Y:0.70, Z:-1.37 [[ 9.96989711e-01 -3.72371148e-03 -7.74444975e-02 -2.30763440e+01] [ 4.03926943e-03 9.99984165e-01 3.91838743e-03 6.97195452e-01] [ 7.74286803e-02 -4.21941114e-03 9.96988965e-01 -1.36832634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.95534707 meters 0.031188871427620966 Centerline is valid? [True, True] Translation: X:-23.14, Y:0.70, Z:-1.37 [[ 9.96471411e-01 -8.95027753e-03 -8.34542952e-02 -2.31354735e+01] [ 9.33579751e-03 9.99947472e-01 4.23043448e-03 7.03820156e-01] [ 8.34120480e-02 -4.99461942e-03 9.96502626e-01 -1.37151277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.01534707 meters 0.03010275284033799 Centerline is valid? [True, True] Translation: X:-23.19, Y:0.71, Z:-1.37 [[ 9.96521963e-01 -6.41464143e-03 -8.30832635e-02 -2.31937823e+01] [ 6.78871361e-03 9.99968049e-01 4.22065443e-03 7.12285059e-01] [ 8.30535349e-02 -4.77000332e-03 9.96533671e-01 -1.37215405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.07534707 meters 0.02728467810778238 Centerline is valid? [True, True] Translation: X:-23.25, Y:0.72, Z:-1.37 [[ 9.96657529e-01 -8.26988084e-04 -8.16889531e-02 -2.32538955e+01] [ 1.17189593e-03 9.99990601e-01 4.17435380e-03 7.22932289e-01] [ 8.16847331e-02 -4.25613210e-03 9.96649131e-01 -1.37306932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135347069999998 meters 0.02654390051758161 Centerline is valid? [True, True] Translation: X:-23.31, Y:0.73, Z:-1.38 [[ 9.96497187e-01 2.10218650e-03 -8.35998630e-02 -2.33125132e+01] [-1.75056050e-03 9.99989312e-01 4.27913876e-03 7.29603850e-01] [ 8.36079650e-02 -4.11780312e-03 9.96490217e-01 -1.37506069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.19534707 meters 0.026958999861544198 Centerline is valid? [True, True] Translation: X:-23.37, Y:0.73, Z:-1.38 [[ 9.96726521e-01 4.38072771e-03 -8.07282580e-02 -2.33712015e+01] [-4.05784054e-03 9.99983100e-01 4.16330531e-03 7.30201073e-01] [ 8.07451320e-02 -3.82209442e-03 9.96727453e-01 -1.37628214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.25534707 meters 0.028624487597935882 Centerline is valid? [True, True] Translation: X:-23.43, Y:0.73, Z:-1.37 [[ 9.96892157e-01 3.36994004e-03 -7.87062345e-02 -2.34303087e+01] [-3.05755119e-03 9.99986965e-01 4.08922267e-03 7.28314671e-01] [ 7.87189889e-02 -3.83586567e-03 9.96889466e-01 -1.37344656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.31534707 meters 0.026431612725881307 Centerline is valid? [True, True] Translation: X:-23.49, Y:0.73, Z:-1.37 [[ 9.97079239e-01 6.25319944e-04 -7.63714612e-02 -2.34885609e+01] [-3.21290139e-04 9.99991976e-01 3.99315653e-03 7.32673190e-01] [ 7.63733454e-02 -3.95695608e-03 9.97071439e-01 -1.37109171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.37534707 meters 0.02896389792361194 Centerline is valid? [True, True] Translation: X:-23.55, Y:0.73, Z:-1.37 [[ 9.97171135e-01 -2.25170899e-03 -7.51309389e-02 -2.35477878e+01] [ 2.55497337e-03 9.99988972e-01 3.94060747e-03 7.31082583e-01] [ 7.51212373e-02 -4.12141757e-03 9.97165891e-01 -1.37404201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.43534707 meters 0.02812873967731168 Centerline is valid? [True, True] Translation: X:-23.61, Y:0.74, Z:-1.38 [[ 9.97053585e-01 -3.03796199e-03 -7.66480282e-02 -2.36059671e+01] [ 3.35814571e-03 9.99986165e-01 4.04878335e-03 7.39434756e-01] [ 7.66346677e-02 -4.29424920e-03 9.97049992e-01 -1.37532300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.49534707 meters 0.02709234431914988 Centerline is valid? [True, True] Translation: X:-23.67, Y:0.75, Z:-1.38 [[ 9.96995825e-01 2.70221392e-03 -7.74081629e-02 -2.36655269e+01] [-2.39090701e-03 9.99988679e-01 4.11402374e-03 7.50490741e-01] [ 7.74184035e-02 -3.91658877e-03 9.96990999e-01 -1.37687317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.55534707 meters 0.027177875518760344 Centerline is valid? [True, True] Translation: X:-23.73, Y:0.76, Z:-1.38 [[ 9.96792778e-01 8.72829761e-03 -7.95485679e-02 -2.37256959e+01] [-8.41844930e-03 9.99955619e-01 4.22962712e-03 7.60246147e-01] [ 7.95819549e-02 -3.54638618e-03 9.96822018e-01 -1.37968691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.61534707 meters 0.024519089998455697 Centerline is valid? [True, True] Translation: X:-23.78, Y:0.77, Z:-1.38 [[ 9.96719778e-01 1.42163464e-02 -7.96716947e-02 -2.37840817e+01] [-1.39229252e-02 9.99894093e-01 4.23721306e-03 7.74071350e-01] [ 7.97234946e-02 -3.11405102e-03 9.96812152e-01 -1.37881999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.67534707 meters 0.021693137612414887 Centerline is valid? [True, True] Translation: X:-23.84, Y:0.79, Z:-1.38 [[ 9.96698472e-01 1.76383939e-02 -7.92530261e-02 -2.38426348e+01] [-1.73580484e-02 9.99840411e-01 4.22493303e-03 7.85739863e-01] [ 7.93148992e-02 -2.83530643e-03 9.96845579e-01 -1.38010297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.73534707 meters 0.02370593882640348 Centerline is valid? [True, True] Translation: X:-23.90, Y:0.79, Z:-1.38 [[ 9.96666234e-01 1.32685718e-02 -8.05007035e-02 -2.39021546e+01] [-1.29629875e-02 9.99906656e-01 4.31749415e-03 7.90160559e-01] [ 8.05504762e-02 -3.25957102e-03 9.96745201e-01 -1.38262129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.79534707 meters 0.026319835415679775 Centerline is valid? [True, True] Translation: X:-23.96, Y:0.79, Z:-1.39 [[ 9.96611849e-01 1.24477402e-02 -8.13011470e-02 -2.39609414e+01] [-1.21325229e-02 9.99916849e-01 4.37003728e-03 7.89898649e-01] [ 8.13487838e-02 -3.36884291e-03 9.96680002e-01 -1.38628292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.85534707 meters 0.022632182358115902 Centerline is valid? [True, True] Translation: X:-24.02, Y:0.81, Z:-1.39 [[ 9.96528164e-01 1.57524068e-02 -8.17525553e-02 -2.40182462e+01] [-1.54425213e-02 9.99870981e-01 4.42147769e-03 8.05719210e-01] [ 8.18116566e-02 -3.14366147e-03 9.96642850e-01 -1.38743881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.91534707 meters 0.02113562174050856 Centerline is valid? [True, True] Translation: X:-24.08, Y:0.82, Z:-1.39 [[ 9.96523493e-01 2.12949777e-02 -8.05447210e-02 -2.40769741e+01] [-2.10114537e-02 9.99769701e-01 4.36609940e-03 8.18005650e-01] [ 8.06191476e-02 -2.65855895e-03 9.96741433e-01 -1.38736651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.97534707 meters 0.020342031549226838 Centerline is valid? [True, True] Translation: X:-24.13, Y:0.83, Z:-1.39 [[ 9.96437113e-01 2.42469979e-02 -8.07784794e-02 -2.41348470e+01] [-2.39708860e-02 9.99703034e-01 4.38627903e-03 8.28575704e-01] [ 8.08608451e-02 -2.43431949e-03 9.96722428e-01 -1.38979812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.03534707 meters 0.027003307158505047 Centerline is valid? [True, True] Translation: X:-24.20, Y:0.82, Z:-1.39 [[ 9.96381792e-01 1.45261232e-02 -8.37395753e-02 -2.41955998e+01] [-1.41943082e-02 9.99888874e-01 4.55649215e-03 8.22948278e-01] [ 8.37964578e-02 -3.35138047e-03 9.96477256e-01 -1.39469130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.09534707 meters 0.023907402292510482 Centerline is valid? [True, True] Translation: X:-24.25, Y:0.83, Z:-1.39 [[ 9.96608305e-01 9.82950524e-03 -8.17023089e-02 -2.42530893e+01] [-9.49772971e-03 9.99945001e-01 4.44844609e-03 8.34531847e-01] [ 8.17415413e-02 -3.65737187e-03 9.96646850e-01 -1.38881786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.15534707 meters 0.0265683006299005 Centerline is valid? [True, True] Translation: X:-24.31, Y:0.84, Z:-1.39 [[ 9.96726729e-01 1.18533157e-03 -8.08357726e-02 -2.43135791e+01] [-8.31549852e-04 9.99989930e-01 4.41007308e-03 8.35992684e-01] [ 8.08401860e-02 -4.32841875e-03 9.96717678e-01 -1.38944368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.21534707 meters 0.03260025142775233 Centerline is valid? [True, True] Translation: X:-24.37, Y:0.83, Z:-1.39 [[ 9.96313588e-01 -8.23801833e-03 -8.53895181e-02 -2.43741563e+01] [ 8.66746104e-03 9.99951580e-01 4.65970269e-03 8.33753531e-01] [ 8.53469968e-02 -5.38263542e-03 9.96336749e-01 -1.39162981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.27534707 meters 0.0297197899571896 Centerline is valid? [True, True] Translation: X:-24.43, Y:0.86, Z:-1.39 [[ 9.96130842e-01 -9.35150083e-04 -8.78775922e-02 -2.44329031e+01] [ 1.36195835e-03 9.99987567e-01 4.79701651e-03 8.55279168e-01] [ 8.78720137e-02 -4.89814172e-03 9.96119730e-01 -1.39368906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.33534707 meters 0.02257039050182391 Centerline is valid? [True, True] Translation: X:-24.49, Y:0.89, Z:-1.39 [[ 9.96257917e-01 1.79655360e-02 -8.45423144e-02 -2.44921731e+01] [-1.76383019e-02 9.99833777e-01 4.61605368e-03 8.87108208e-01] [ 8.46111914e-02 -3.10759716e-03 9.96409198e-01 -1.38891487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.39534707 meters 0.019593280758683006 Centerline is valid? [True, True] Translation: X:-24.55, Y:0.91, Z:-1.39 [[ 9.95906782e-01 2.62861111e-02 -8.64796098e-02 -2.45504789e+01] [-2.59747029e-02 9.99651437e-01 4.72441994e-03 9.05537324e-01] [ 8.65736528e-02 -2.45879969e-03 9.96242419e-01 -1.39099044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.45534707 meters 0.02006853182133778 Centerline is valid? [True, True] Translation: X:-24.61, Y:0.91, Z:-1.40 [[ 9.95627139e-01 2.85058699e-02 -8.89607566e-02 -2.46079748e+01] [-2.81837717e-02 9.99590871e-01 4.87495109e-03 9.13679028e-01] [ 8.90633249e-02 -2.34638395e-03 9.96023202e-01 -1.39766559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.51534707 meters 0.02103204235114689 Centerline is valid? [True, True] Translation: X:-24.67, Y:0.92, Z:-1.40 [[ 9.95677779e-01 2.58614424e-02 -8.92017146e-02 -2.46668156e+01] [-2.55237813e-02 9.99662088e-01 4.92413965e-03 9.18866894e-01] [ 8.92989176e-02 -2.62609138e-03 9.96001409e-01 -1.39898399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.57534707 meters 0.025693350947827185 Centerline is valid? [True, True] Translation: X:-24.73, Y:0.91, Z:-1.40 [[ 9.96196817e-01 2.06117266e-02 -8.46584852e-02 -2.47258435e+01] [-2.02863714e-02 9.99783155e-01 4.70169621e-03 9.12487556e-01] [ 8.47370376e-02 -2.96640133e-03 9.96398934e-01 -1.40012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635347069999998 meters 0.0245863126762291 Centerline is valid? [True, True] Translation: X:-24.78, Y:0.92, Z:-1.40 [[ 9.96150251e-01 1.35111993e-02 -8.66148026e-02 -2.47843686e+01] [-1.31418565e-02 9.99901962e-01 4.83302014e-03 9.19833890e-01] [ 8.66716109e-02 -3.67613493e-03 9.96230153e-01 -1.40019568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.69534707 meters 0.02820656216015515 Centerline is valid? [True, True] Translation: X:-24.84, Y:0.92, Z:-1.41 [[ 9.95746133e-01 1.31455661e-02 -9.11966656e-02 -2.48432024e+01] [-1.27343619e-02 9.99905962e-01 5.08942247e-03 9.15115558e-01] [ 9.12549930e-02 -3.90644141e-03 9.95819896e-01 -1.41019544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.75534707 meters 0.02747034401682263 Centerline is valid? [True, True] Translation: X:-24.90, Y:0.92, Z:-1.41 [[ 9.95776166e-01 1.42142226e-02 -9.07071335e-02 -2.49010281e+01] [-1.38109905e-02 9.99891762e-01 5.07158515e-03 9.24622755e-01] [ 9.07694041e-02 -3.79740826e-03 9.95864697e-01 -1.41248122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.81534707 meters 0.023260897318338847 Centerline is valid? [True, True] Translation: X:-24.96, Y:0.94, Z:-1.41 [[ 9.95926961e-01 2.33931902e-02 -8.70760962e-02 -2.49612346e+01] [-2.30560409e-02 9.99722284e-01 4.87574361e-03 9.39813597e-01] [ 8.71659730e-02 -2.84825448e-03 9.96189731e-01 -1.40772088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.87534707 meters 0.02125665856590146 Centerline is valid? [True, True] Translation: X:-25.02, Y:0.95, Z:-1.41 [[ 9.95833645e-01 2.74812697e-02 -8.69490203e-02 -2.50192455e+01] [-2.71604971e-02 9.99619221e-01 4.87030914e-03 9.49725851e-01] [ 8.70497542e-02 -2.48843909e-03 9.96200857e-01 -1.40798036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.93534707 meters 0.02416143728008842 Centerline is valid? [True, True] Translation: X:-25.08, Y:0.95, Z:-1.42 [[ 9.95796116e-01 1.83956994e-02 -8.97312252e-02 -2.50786200e+01] [-1.80167155e-02 9.99825024e-01 5.03175161e-03 9.47936836e-01] [ 8.98080871e-02 -3.39393675e-03 9.95953306e-01 -1.41529225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.99534707 meters 0.024908488994535277 Centerline is valid? [True, True] Translation: X:-25.14, Y:0.95, Z:-1.41 [[ 9.96014522e-01 1.72057522e-02 -8.75159083e-02 -2.51368840e+01] [-1.68397910e-02 9.99846104e-01 4.91828219e-03 9.46925883e-01] [ 8.75870627e-02 -3.42493087e-03 9.96150981e-01 -1.41210778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.05534707 meters 0.026755746173823407 Centerline is valid? [True, True] Translation: X:-25.20, Y:0.95, Z:-1.42 [[ 9.95943667e-01 1.47256513e-02 -8.87657999e-02 -2.51957402e+01] [-1.43363180e-02 9.99884618e-01 5.02205902e-03 9.47347000e-01] [ 8.88295110e-02 -3.72911314e-03 9.96039865e-01 -1.41807558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.11534707 meters 0.023500461358236007 Centerline is valid? [True, True] Translation: X:-25.25, Y:0.96, Z:-1.42 [[ 9.95894199e-01 1.95896837e-02 -8.83797951e-02 -2.52541740e+01] [-1.92208394e-02 9.99802647e-01 5.02258653e-03 9.59371934e-01] [ 8.84607439e-02 -3.30323094e-03 9.96074187e-01 -1.41575527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.17534707 meters 0.023551806147812562 Centerline is valid? [True, True] Translation: X:-25.31, Y:0.96, Z:-1.42 [[ 9.95778794e-01 2.15877895e-02 -8.92107713e-02 -2.53121497e+01] [-2.12187477e-02 9.99761935e-01 5.08314401e-03 9.64564198e-01] [ 8.92992672e-02 -3.16874616e-03 9.95999799e-01 -1.42299256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.23534707 meters 0.021785083200190413 Centerline is valid? [True, True] Translation: X:-25.37, Y:0.98, Z:-1.43 [[ 9.95214958e-01 2.72426821e-02 -9.38350908e-02 -2.53697304e+01] [-2.68560469e-02 9.99624829e-01 5.38094923e-03 9.77129651e-01] [ 9.39464781e-02 -2.83516157e-03 9.95573212e-01 -1.42854930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.29534707 meters 0.02016017492033434 Centerline is valid? [True, True] Translation: X:-25.43, Y:0.99, Z:-1.43 [[ 9.95221666e-01 3.35431339e-02 -9.16989247e-02 -2.54284322e+01] [-3.31983100e-02 9.99434818e-01 5.28357918e-03 9.87695236e-01] [ 9.18243260e-02 -2.21408315e-03 9.95772761e-01 -1.42520765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.35534707 meters 0.02023802419268287 Centerline is valid? [True, True] Translation: X:-25.49, Y:0.99, Z:-1.44 [[ 9.95224254e-01 3.55018446e-02 -9.09302139e-02 -2.54864803e+01] [-3.51694291e-02 9.99367543e-01 5.25592467e-03 9.88401515e-01] [ 9.10592995e-02 -2.03286000e-03 9.95843397e-01 -1.43565059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.41534707 meters 0.021445171714067054 Centerline is valid? [True, True] Translation: X:-25.55, Y:0.98, Z:-1.44 [[ 9.95329326e-01 2.93150459e-02 -9.19791310e-02 -2.55454087e+01] [-2.89461140e-02 9.99566695e-01 5.34281419e-03 9.84946767e-01] [ 9.20959008e-02 -2.65542124e-03 9.95746601e-01 -1.43870612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475347069999998 meters 0.024750896686225054 Centerline is valid? [True, True] Translation: X:-25.61, Y:0.98, Z:-1.45 [[ 9.95342142e-01 2.09288971e-02 -9.41063318e-02 -2.56054790e+01] [-2.05047639e-02 9.99774782e-01 5.47176604e-03 9.76467041e-01] [ 9.41996554e-02 -3.51665122e-03 9.95547115e-01 -1.44791144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.53534707 meters 0.024841652972075665 Centerline is valid? [True, True] Translation: X:-25.66, Y:0.97, Z:-1.45 [[ 9.95629067e-01 1.94325783e-02 -9.13517099e-02 -2.56638379e+01] [-1.90257224e-02 9.99804827e-01 5.32254174e-03 9.74320012e-01] [ 9.14373113e-02 -3.56124499e-03 9.95804467e-01 -1.44848314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.59534707 meters 0.024811955960706063 Centerline is valid? [True, True] Translation: X:-25.72, Y:0.97, Z:-1.45 [[ 9.95755847e-01 1.77167932e-02 -9.03128326e-02 -2.57218487e+01] [-1.73095924e-02 9.99836183e-01 5.29008984e-03 9.73677720e-01] [ 9.03917612e-02 -3.70435957e-03 9.95899396e-01 -1.45182230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.65534707 meters 0.026936415319922098 Centerline is valid? [True, True] Translation: X:-25.78, Y:0.97, Z:-1.46 [[ 9.95513438e-01 1.29618405e-02 -9.37282586e-02 -2.57815192e+01] [-1.25012797e-02 9.99906734e-01 5.49929781e-03 9.71088404e-01] [ 9.37907979e-02 -4.30290168e-03 9.95582629e-01 -1.45873867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.71534707 meters 0.027563561913883646 Centerline is valid? [True, True] Translation: X:-25.84, Y:0.97, Z:-1.46 [[ 9.95489851e-01 1.10526460e-02 -9.42220570e-02 -2.58397228e+01] [-1.05782538e-02 9.99928742e-01 5.53282534e-03 9.73982482e-01] [ 9.42764952e-02 -4.51116664e-03 9.95535832e-01 -1.46286699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.77534707 meters 0.02876304420842318 Centerline is valid? [True, True] Translation: X:-25.90, Y:0.98, Z:-1.47 [[ 9.95517844e-01 9.84114560e-03 -9.40604855e-02 -2.58979741e+01] [-9.36143472e-03 9.99940835e-01 5.53992502e-03 9.76634648e-01] [ 9.41094396e-02 -4.63455312e-03 9.95551071e-01 -1.47000717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.83534707 meters 0.029902999906928428 Centerline is valid? [True, True] Translation: X:-25.96, Y:0.98, Z:-1.48 [[ 9.95298006e-01 7.04173438e-03 -9.66037926e-02 -2.59571992e+01] [-6.52005201e-03 9.99962414e-01 5.71483716e-03 9.80631275e-01] [ 9.66404040e-02 -5.05810428e-03 9.95306510e-01 -1.47777851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.89534707 meters 0.03226922238380718 Centerline is valid? [True, True] Translation: X:-26.02, Y:0.98, Z:-1.49 [[ 9.95016861e-01 5.05104659e-03 -9.95787763e-02 -2.60165747e+01] [-4.48616954e-03 9.99972557e-01 5.89577080e-03 9.81601386e-01] [ 9.96058233e-02 -5.41966408e-03 9.95012215e-01 -1.48715295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.95534707 meters 0.027477773367394268 Centerline is valid? [True, True] Translation: X:-26.07, Y:1.00, Z:-1.49 [[ 9.94902843e-01 8.84421723e-03 -1.00449555e-01 -2.60741874e+01] [-8.28791327e-03 9.99947928e-01 5.95411517e-03 9.96049028e-01] [ 1.00496984e-01 -5.09124891e-03 9.94924337e-01 -1.48865819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.01534707 meters 0.028078143455358057 Centerline is valid? [True, True] Translation: X:-26.13, Y:1.00, Z:-1.49 [[ 9.95044450e-01 1.22972538e-02 -9.86677283e-02 -2.61331494e+01] [-1.17764690e-02 9.99913491e-01 5.85885392e-03 1.00199030e+00] [ 9.87312404e-02 -4.66786263e-03 9.95103187e-01 -1.49245315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.07534707 meters 0.029264408419924493 Centerline is valid? [True, True] Translation: X:-26.19, Y:1.00, Z:-1.50 [[ 9.94966193e-01 9.01890783e-03 -9.98044821e-02 -2.61923418e+01] [-8.46860747e-03 9.99946521e-01 5.93607995e-03 1.00295647e+00] [ 9.98526817e-02 -5.06099388e-03 9.94989361e-01 -1.50484560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135347069999998 meters 0.028468154515815254 Centerline is valid? [True, True] Translation: X:-26.25, Y:1.01, Z:-1.51 [[ 9.94465175e-01 4.66778743e-03 -1.04962979e-01 -2.62511010e+01] [-4.03409313e-03 9.99972339e-01 6.24880497e-03 1.00882304e+00] [ 1.04989244e-01 -5.79078849e-03 9.94456497e-01 -1.51128123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.19534707 meters 0.0301039378260685 Centerline is valid? [True, True] Translation: X:-26.31, Y:1.01, Z:-1.51 [[ 9.95044826e-01 6.15808778e-03 -9.92364504e-02 -2.63107910e+01] [-5.59901476e-03 9.99966853e-01 5.91126543e-03 1.01311146e+00] [ 9.92695632e-02 -5.32634773e-03 9.95046322e-01 -1.51330865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.25534707 meters 0.027748281539892082 Centerline is valid? [True, True] Translation: X:-26.37, Y:1.02, Z:-1.52 [[ 9.94759990e-01 1.09781429e-02 -1.01646654e-01 -2.63688943e+01] [-1.04160248e-02 9.99927393e-01 6.05923669e-03 1.02177221e+00] [ 1.01705793e-01 -4.96873217e-03 9.94802113e-01 -1.52227099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.31534707 meters 0.02640152147809143 Centerline is valid? [True, True] Translation: X:-26.43, Y:1.03, Z:-1.53 [[ 9.94175069e-01 1.56507994e-02 -1.06634816e-01 -2.64251530e+01] [-1.50562866e-02 9.99866305e-01 6.37804976e-03 1.03344825e+00] [ 1.06720381e-01 -4.73537371e-03 9.94277796e-01 -1.53207376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.37534707 meters 0.02162365076097063 Centerline is valid? [True, True] Translation: X:-26.48, Y:1.05, Z:-1.53 [[ 9.94416382e-01 2.14372301e-02 -1.03327168e-01 -2.64833975e+01] [-2.09074785e-02 9.99762145e-01 6.20738975e-03 1.05106929e+00] [ 1.03435660e-01 -4.01241952e-03 9.94628053e-01 -1.52926236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.43534707 meters 0.022373665462512318 Centerline is valid? [True, True] Translation: X:-26.54, Y:1.05, Z:-1.54 [[ 9.94491431e-01 2.26745568e-02 -1.02336009e-01 -2.65421738e+01] [-2.21597082e-02 9.99735434e-01 6.16516090e-03 1.05072702e+00] [ 1.02448727e-01 -3.86346358e-03 9.94730784e-01 -1.53814364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49534707 meters 0.025328079258737746 Centerline is valid? [True, True] Translation: X:-26.60, Y:1.05, Z:-1.55 [[ 9.94060791e-01 1.89636150e-02 -1.07161211e-01 -2.66015761e+01] [-1.83742833e-02 9.99810152e-01 6.48425130e-03 1.04746742e+00] [ 1.07263832e-01 -4.47672953e-03 9.94220513e-01 -1.54863721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.55534707 meters 0.026922339557506364 Centerline is valid? [True, True] Translation: X:-26.66, Y:1.05, Z:-1.55 [[ 9.94629012e-01 1.76824164e-02 -1.01982649e-01 -2.66615638e+01] [-1.71417576e-02 9.99833998e-01 6.17547855e-03 1.04887960e+00] [ 1.02074917e-01 -4.39414829e-03 9.94767009e-01 -1.54929736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.61534707 meters 0.023737999298213422 Centerline is valid? [True, True] Translation: X:-26.72, Y:1.05, Z:-1.56 [[ 9.94509741e-01 2.00757970e-02 -1.02700230e-01 -2.67188300e+01] [-1.95393325e-02 9.99789697e-01 6.22704040e-03 1.05245058e+00] [ 1.02803645e-01 -4.18615840e-03 9.94692861e-01 -1.55791288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.67534707 meters 0.027662655936632877 Centerline is valid? [True, True] Translation: X:-26.78, Y:1.06, Z:-1.56 [[ 9.94664461e-01 2.17058524e-02 -1.00853686e-01 -2.67781191e+01] [-2.11957275e-02 9.99756571e-01 6.12701148e-03 1.05589616e+00] [ 1.00962128e-01 -3.95665331e-03 9.94882402e-01 -1.55547634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.73534707 meters 0.02099017138215206 Centerline is valid? [True, True] Translation: X:-26.84, Y:1.07, Z:-1.57 [[ 9.94070740e-01 2.44614178e-02 -1.05948118e-01 -2.68353179e+01] [-2.39113430e-02 9.99693216e-01 6.45926490e-03 1.06532411e+00] [ 1.06073618e-01 -3.88760443e-03 9.94350680e-01 -1.56612088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.79534707 meters 0.023375006104472316 Centerline is valid? [True, True] Translation: X:-26.90, Y:1.07, Z:-1.56 [[ 9.94441967e-01 3.04196219e-02 -1.00795933e-01 -2.68959121e+01] [-2.99499950e-02 9.99532358e-01 6.16953917e-03 1.07021504e+00] [ 1.00936472e-01 -3.11641098e-03 9.94887992e-01 -1.56186414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.85534707 meters 0.02070569636708649 Centerline is valid? [True, True] Translation: X:-26.95, Y:1.07, Z:-1.58 [[ 9.94427055e-01 3.20960857e-02 -1.00422472e-01 -2.69537384e+01] [-3.16378616e-02 9.99480460e-01 6.15265618e-03 1.06662735e+00] [ 1.00567775e-01 -2.94121550e-03 9.94925863e-01 -1.57584058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.91534707 meters 0.02608551549952615 Centerline is valid? [True, True] Translation: X:-27.01, Y:1.06, Z:-1.58 [[ 9.94431729e-01 2.72388894e-02 -1.01801662e-01 -2.70129688e+01] [-2.67414520e-02 9.99622857e-01 6.24811099e-03 1.06297032e+00] [ 1.01933460e-01 -3.49099556e-03 9.94785094e-01 -1.57792284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975347069999998 meters 0.023885279169945352 Centerline is valid? [True, True] Translation: X:-27.07, Y:1.06, Z:-1.58 [[ 9.94519698e-01 2.88957145e-02 -1.00476907e-01 -2.70721480e+01] [-2.84179657e-02 9.99577004e-01 6.18316241e-03 1.06398250e+00] [ 1.00613073e-01 -3.29392751e-03 9.94920178e-01 -1.57652688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.03534707 meters 0.02340388100984047 Centerline is valid? [True, True] Translation: X:-27.13, Y:1.07, Z:-1.58 [[ 9.94258177e-01 3.24731755e-02 -1.01961610e-01 -2.71302801e+01] [-3.19958637e-02 9.99468060e-01 6.31367616e-03 1.06544964e+00] [ 1.02112398e-01 -3.01507437e-03 9.94768298e-01 -1.58264026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.09534707 meters 0.023689726385765168 Centerline is valid? [True, True] Translation: X:-27.19, Y:1.06, Z:-1.59 [[ 9.94371328e-01 3.43538419e-02 -1.00227122e-01 -2.71887081e+01] [-3.38983567e-02 9.99405777e-01 6.24455811e-03 1.06367797e+00] [ 1.00382090e-01 -2.81187480e-03 9.94944988e-01 -1.58979596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.15534707 meters 0.021107926975140648 Centerline is valid? [True, True] Translation: X:-27.25, Y:1.06, Z:-1.59 [[ 9.94227155e-01 3.26664296e-02 -1.02202096e-01 -2.72468792e+01] [-3.21806818e-02 9.99461587e-01 6.39843896e-03 1.06316012e+00] [ 1.02356083e-01 -3.07256865e-03 9.94743078e-01 -1.59199191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.21534707 meters 0.02552945464822501 Centerline is valid? [True, True] Translation: X:-27.31, Y:1.05, Z:-1.60 [[ 9.94605673e-01 3.05394024e-02 -9.91307217e-02 -2.73058754e+01] [-3.00697485e-02 9.99528395e-01 6.22871906e-03 1.04949742e+00] [ 9.92741926e-02 -3.21428344e-03 9.95054925e-01 -1.60310341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.27534707 meters 0.027811275684922525 Centerline is valid? [True, True] Translation: X:-27.37, Y:1.04, Z:-1.61 [[ 9.94614460e-01 3.42103449e-02 -9.78352076e-02 -2.73657975e+01] [-3.37679038e-02 9.99410625e-01 6.17504501e-03 1.04018985e+00] [ 9.79887964e-02 -2.83809918e-03 9.95183471e-01 -1.61227555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.33534707 meters 0.01813532438922418 Centerline is valid? [True, True] Translation: X:-27.42, Y:1.05, Z:-1.62 [[ 9.94239067e-01 3.66283989e-02 -1.00732512e-01 -2.74229737e+01] [-3.61707934e-02 9.99325346e-01 6.36608338e-03 1.04810025e+00] [ 1.00897732e-01 -2.68583392e-03 9.94893177e-01 -1.61523504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.39534707 meters 0.02584476547604272 Centerline is valid? [True, True] Translation: X:-27.48, Y:1.04, Z:-1.63 [[ 9.94352302e-01 3.97531927e-02 -9.84031627e-02 -2.74824652e+01] [-3.93306806e-02 9.99206824e-01 6.23057856e-03 1.03656609e+00] [ 9.85727971e-02 -2.32512677e-03 9.95127126e-01 -1.62542727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.45534707 meters 0.026409490277260115 Centerline is valid? [True, True] Translation: X:-27.54, Y:1.03, Z:-1.63 [[ 9.94514018e-01 3.89685750e-02 -9.70737726e-02 -2.75413881e+01] [-3.85528236e-02 9.99237604e-01 6.15554458e-03 1.02833638e+00] [ 9.72396367e-02 -2.37930735e-03 9.95258153e-01 -1.62675479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.51534707 meters 0.02179746535165806 Centerline is valid? [True, True] Translation: X:-27.60, Y:1.02, Z:-1.64 [[ 9.94239203e-01 3.68183905e-02 -1.00661876e-01 -2.76012394e+01] [-3.63593540e-02 9.99318340e-01 6.39167241e-03 1.02419089e+00] [ 1.00828590e-01 -2.69485049e-03 9.94900162e-01 -1.64198547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.57534707 meters 0.024239922765169706 Centerline is valid? [True, True] Translation: X:-27.66, Y:1.02, Z:-1.64 [[ 9.94787643e-01 3.69411284e-02 -9.50415568e-02 -2.76614407e+01] [-3.65322314e-02 9.99314226e-01 6.03928132e-03 1.01822931e+00] [ 9.51994777e-02 -2.53572228e-03 9.95454986e-01 -1.63721218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635347069999998 meters 0.0250825582572753 Centerline is valid? [True, True] Translation: X:-27.72, Y:1.01, Z:-1.65 [[ 9.94747990e-01 3.54921695e-02 -9.60038624e-02 -2.77190064e+01] [-3.50671730e-02 9.99366274e-01 6.11097623e-03 1.01267189e+00] [ 9.61599141e-02 -2.71229727e-03 9.95362203e-01 -1.64509722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.69534707 meters 0.02834911428374977 Centerline is valid? [True, True] Translation: X:-27.78, Y:1.01, Z:-1.65 [[ 9.94658763e-01 3.19385485e-02 -9.81522972e-02 -2.77778055e+01] [-3.14760131e-02 9.99484918e-01 6.25767624e-03 1.01074929e+00] [ 9.83016018e-02 -3.13480952e-03 9.95151731e-01 -1.65100335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.75534707 meters 0.027458134928257546 Centerline is valid? [True, True] Translation: X:-27.84, Y:1.01, Z:-1.66 [[ 9.94443483e-01 3.39571233e-02 -9.96447372e-02 -2.78359354e+01] [-3.34896445e-02 9.99418822e-01 6.36089246e-03 1.00880981e+00] [ 9.98028235e-02 -2.98848122e-03 9.95002746e-01 -1.65604917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815347069999998 meters 0.027777788129637566 Centerline is valid? [True, True] Translation: X:-27.90, Y:1.01, Z:-1.66 [[ 9.94783678e-01 3.65133631e-02 -9.52481439e-02 -2.78951220e+01] [-3.60970502e-02 9.99329728e-01 6.09075278e-03 1.01074950e+00] [ 9.54066956e-02 -2.62080443e-03 9.95434927e-01 -1.65569039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.87534707 meters 0.02521123895881825 Centerline is valid? [True, True] Translation: X:-27.95, Y:1.01, Z:-1.66 [[ 9.94643434e-01 3.96196521e-02 -9.54710504e-02 -2.79532386e+01] [-3.92147515e-02 9.99212099e-01 6.11432074e-03 1.00960461e+00] [ 9.56380759e-02 -2.33769546e-03 9.95413428e-01 -1.66448724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.93534707 meters 0.02617603283335316 Centerline is valid? [True, True] Translation: X:-28.01, Y:1.01, Z:-1.67 [[ 9.94535790e-01 3.74752485e-02 -9.74380234e-02 -2.80120300e+01] [-3.70419338e-02 9.99294149e-01 6.25287415e-03 1.00676828e+00] [ 9.76035748e-02 -2.60941432e-03 9.95221952e-01 -1.67185424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.99534707 meters 0.029273247402763714 Centerline is valid? [True, True] Translation: X:-28.07, Y:1.00, Z:-1.68 [[ 9.94888543e-01 3.42183751e-02 -9.50046860e-02 -2.80708882e+01] [-3.37899582e-02 9.99410249e-01 6.11498814e-03 1.00089620e+00] [ 9.51579018e-02 -2.87352727e-03 9.95458044e-01 -1.67626583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.05534707 meters 0.02967416568225714 Centerline is valid? [True, True] Translation: X:-28.13, Y:1.00, Z:-1.68 [[ 9.95113872e-01 3.25479193e-02 -9.32148864e-02 -2.81280368e+01] [-3.21254228e-02 9.99465656e-01 6.02986989e-03 9.98488053e-01] [ 9.33613373e-02 -3.00583953e-03 9.95627755e-01 -1.67915002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.11534707 meters 0.030887695778795486 Centerline is valid? [True, True] Translation: X:-28.19, Y:1.00, Z:-1.68 [[ 9.95179797e-01 2.96323219e-02 -9.34831418e-02 -2.81862276e+01] [-2.91923214e-02 9.99555377e-01 6.07102117e-03 9.97320316e-01] [ 9.36214755e-02 -3.31276769e-03 9.95602353e-01 -1.68371682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.17534707 meters 0.03066922223508314 Centerline is valid? [True, True] Translation: X:-28.24, Y:1.00, Z:-1.69 [[ 9.95261265e-01 3.19264052e-02 -9.18461758e-02 -2.82448909e+01] [-3.15081236e-02 9.99485481e-01 6.00094168e-03 1.00018369e+00] [ 9.19905077e-02 -3.07860415e-03 9.95755125e-01 -1.68791819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.23534707 meters 0.03228497838915372 Centerline is valid? [True, True] Translation: X:-28.30, Y:1.00, Z:-1.70 [[ 9.95144306e-01 3.28579221e-02 -9.27802083e-02 -2.83010572e+01] [-3.24316970e-02 9.99455349e-01 6.09836267e-03 1.00348842e+00] [ 9.29300550e-02 -3.05973128e-03 9.95667938e-01 -1.69657983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.29534707 meters 0.03590596890751066 Centerline is valid? [True, True] Translation: X:-28.36, Y:1.00, Z:-1.71 [[ 9.95285720e-01 2.81831629e-02 -9.28011027e-02 -2.83594514e+01] [-2.77341721e-02 9.99596571e-01 6.12457680e-03 1.00159109e+00] [ 9.29362740e-02 -3.52194207e-03 9.95665830e-01 -1.70666051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.35534707 meters 0.03544901449622863 Centerline is valid? [True, True] Translation: X:-28.42, Y:1.01, Z:-1.71 [[ 9.95502824e-01 2.91232550e-02 -9.01441257e-02 -2.84172584e+01] [-2.87025202e-02 9.99570227e-01 5.96044007e-03 1.00736687e+00] [ 9.02789716e-02 -3.34627133e-03 9.95910894e-01 -1.71195152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.41534707 meters 0.03776764043536796 Centerline is valid? [True, True] Translation: X:-28.48, Y:1.01, Z:-1.72 [[ 9.95844223e-01 3.24487376e-02 -8.50962019e-02 -2.84757154e+01] [-3.20851501e-02 9.99469242e-01 5.63719349e-03 1.01453666e+00] [ 8.52339562e-02 -2.88344216e-03 9.96356793e-01 -1.72012549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475347069999998 meters 0.03824169990973961 Centerline is valid? [True, True] Translation: X:-28.53, Y:1.02, Z:-1.73 [[ 9.96021259e-01 3.60854653e-02 -8.14830693e-02 -2.85344593e+01] [-3.57637878e-02 9.99345658e-01 5.40431416e-03 1.01963984e+00] [ 8.16247687e-02 -2.46866859e-03 9.96660074e-01 -1.73313214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.53534707 meters 0.03707189327342209 Centerline is valid? [True, True] Translation: X:-28.59, Y:1.03, Z:-1.74 [[ 9.95970616e-01 3.91413370e-02 -8.06875945e-02 -2.85922062e+01] [-3.88351219e-02 9.99231248e-01 5.36150263e-03 1.02823455e+00] [ 8.08354222e-02 -2.20638651e-03 9.96725020e-01 -1.73834648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.59534707 meters 0.03655795708721045 Centerline is valid? [True, True] Translation: X:-28.65, Y:1.04, Z:-1.74 [[ 9.96111067e-01 4.27329713e-02 -7.70495703e-02 -2.86496812e+01] [-4.24624843e-02 9.99084808e-01 5.14619209e-03 1.03571390e+00] [ 7.71989673e-02 -1.85446272e-03 9.97013982e-01 -1.74273309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.65534707 meters 0.03731484251375524 Centerline is valid? [True, True] Translation: X:-28.71, Y:1.04, Z:-1.75 [[ 9.96206045e-01 4.61324223e-02 -7.37923791e-02 -2.87077593e+01] [-4.58928558e-02 9.98934155e-01 4.93969506e-03 1.04286431e+00] [ 7.39416079e-02 -1.53441106e-03 9.97261392e-01 -1.74845723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.71534707 meters 0.0410354329015712 Centerline is valid? [True, True] Translation: X:-28.77, Y:1.05, Z:-1.76 [[ 9.96639664e-01 4.83812250e-02 -6.60956643e-02 -2.87662223e+01] [-4.81924503e-02 9.98828163e-01 4.44844099e-03 1.04514881e+00] [ 6.62334319e-02 -1.24818072e-03 9.97803375e-01 -1.75563853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.77534707 meters 0.04132710261687439 Centerline is valid? [True, True] Translation: X:-28.82, Y:1.05, Z:-1.77 [[ 9.96971108e-01 4.62549703e-02 -6.25226926e-02 -2.88235909e+01] [-4.60803414e-02 9.98928769e-01 4.23288659e-03 1.04829365e+00] [ 6.26515084e-02 -1.33899861e-03 9.98034566e-01 -1.76602152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.83534707 meters 0.04321364998354407 Centerline is valid? [True, True] Translation: X:-28.88, Y:1.05, Z:-1.77 [[ 9.97384985e-01 4.06941383e-02 -5.97258653e-02 -2.88810169e+01] [-4.05243628e-02 9.99170336e-01 4.05159146e-03 1.04825961e+00] [ 5.98411890e-02 -1.62064385e-03 9.98206595e-01 -1.77127162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.89534707 meters 0.04484074624706702 Centerline is valid? [True, True] Translation: X:-28.94, Y:1.05, Z:-1.78 [[ 9.97767077e-01 3.95175728e-02 -5.38444102e-02 -2.89400056e+01] [-3.93776981e-02 9.99217707e-01 3.65660412e-03 1.05053671e+00] [ 5.39467882e-02 -1.52817027e-03 9.98542642e-01 -1.77563532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.95534707 meters 0.042561794974372576 Centerline is valid? [True, True] Translation: X:-29.00, Y:1.05, Z:-1.78 [[ 9.97906060e-01 3.92168189e-02 -5.14347745e-02 -2.89984710e+01] [-3.90878356e-02 9.99229608e-01 3.51160312e-03 1.05352484e+00] [ 5.15328635e-02 -1.49377603e-03 9.98670182e-01 -1.78096892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.01534707 meters 0.034791294088837084 Centerline is valid? [True, True] Translation: X:-29.06, Y:1.06, Z:-1.79 [[ 9.97798157e-01 4.37129702e-02 -4.98800060e-02 -2.90552151e+01] [-4.35960832e-02 9.99043353e-01 3.42944841e-03 1.06385834e+00] [ 4.99821998e-02 -1.24732441e-03 9.98749330e-01 -1.78583658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.07534707 meters 0.025820984144945863 Centerline is valid? [True, True] Translation: X:-29.11, Y:1.07, Z:-1.80 [[ 9.97854218e-01 4.56207099e-02 -4.69649928e-02 -2.91126821e+01] [-4.55191966e-02 9.98958245e-01 3.22925609e-03 1.06841231e+00] [ 4.70633877e-02 -1.08451807e-03 9.98891316e-01 -1.79502817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135347069999998 meters 0.023647645265260118 Centerline is valid? [True, True] Translation: X:-29.17, Y:1.07, Z:-1.81 [[ 9.98029613e-01 4.26866061e-02 -4.59863487e-02 -2.91695952e+01] [-4.25849766e-02 9.99087763e-01 3.18785972e-03 1.06977658e+00] [ 4.60804771e-02 -1.22325082e-03 9.98936982e-01 -1.80601870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.19534707 meters 0.02422896336422259 Centerline is valid? [True, True] Translation: X:-29.23, Y:1.07, Z:-1.81 [[ 9.98370015e-01 3.53285930e-02 -4.48241496e-02 -2.92296151e+01] [-3.52240792e-02 9.99374571e-01 3.11959027e-03 1.07157360e+00] [ 4.49063260e-02 -1.53561599e-03 9.98990022e-01 -1.81147670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.25534707 meters 0.026599291589660796 Centerline is valid? [True, True] Translation: X:-29.29, Y:1.07, Z:-1.81 [[ 9.98683881e-01 2.66701826e-02 -4.38087656e-02 -2.92894977e+01] [-2.65618478e-02 9.99642509e-01 3.05324769e-03 1.07284608e+00] [ 4.38745350e-02 -1.88558749e-03 9.99035270e-01 -1.81406792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315347069999998 meters 0.027797174228302246 Centerline is valid? [True, True] Translation: X:-29.35, Y:1.08, Z:-1.82 [[ 9.98689883e-01 2.00347725e-02 -4.70863522e-02 -2.93486389e+01] [-1.99021996e-02 9.99796542e-01 3.28270963e-03 1.07953675e+00] [ 4.71425404e-02 -2.34128692e-03 9.98885428e-01 -1.81726981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.37534707 meters 0.026964876779806083 Centerline is valid? [True, True] Translation: X:-29.41, Y:1.09, Z:-1.82 [[ 9.98635898e-01 2.12911489e-02 -4.76763104e-02 -2.94066946e+01] [-2.11568217e-02 9.99770656e-01 3.32039700e-03 1.09262417e+00] [ 4.77360712e-02 -2.30718844e-03 9.98857319e-01 -1.81879123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.43534707 meters 0.025490079404921005 Centerline is valid? [True, True] Translation: X:-29.46, Y:1.11, Z:-1.82 [[ 9.98547791e-01 2.41229335e-02 -4.81704624e-02 -2.94646399e+01] [-2.39881382e-02 9.99706548e-01 3.37452022e-03 1.10776623e+00] [ 4.82377300e-02 -2.21410000e-03 9.98833429e-01 -1.81866380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.49534707 meters 0.027274211619953814 Centerline is valid? [True, True] Translation: X:-29.52, Y:1.11, Z:-1.82 [[ 9.98461265e-01 2.35020692e-02 -5.02270415e-02 -2.95227336e+01] [-2.33537060e-02 9.99721002e-01 3.53875832e-03 1.11158294e+00] [ 5.02961964e-02 -2.36032554e-03 9.98731556e-01 -1.82234023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.55534707 meters 0.028980857478852734 Centerline is valid? [True, True] Translation: X:-29.58, Y:1.12, Z:-1.82 [[ 9.98494528e-01 1.73741562e-02 -5.20270693e-02 -2.95829986e+01] [-1.72050399e-02 9.99845149e-01 3.69668199e-03 1.11694583e+00] [ 5.20832395e-02 -2.79598893e-03 9.98638833e-01 -1.82279530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.61534707 meters 0.030621858997089257 Centerline is valid? [True, True] Translation: X:-29.64, Y:1.12, Z:-1.82 [[ 9.98443330e-01 9.46468174e-03 -5.49666940e-02 -2.96436631e+01] [-9.26384984e-03 9.99949456e-01 3.90735307e-03 1.12070265e+00] [ 5.50008976e-02 -3.39206741e-03 9.98480543e-01 -1.82009328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.67534707 meters 0.03520100634980231 Centerline is valid? [True, True] Translation: X:-29.70, Y:1.12, Z:-1.82 [[ 9.98206967e-01 1.45052624e-03 -5.98393375e-02 -2.97045882e+01] [-1.19810152e-03 9.99990234e-01 4.25403757e-03 1.11771343e+00] [ 5.98449237e-02 -4.17471634e-03 9.98198957e-01 -1.82086939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.73534707 meters 0.035523952038793445 Centerline is valid? [True, True] Translation: X:-29.76, Y:1.12, Z:-1.82 [[ 9.98109292e-01 -9.09961099e-04 -6.14574147e-02 -2.97631260e+01] [ 1.18070094e-03 9.99989758e-01 4.36915228e-03 1.12162398e+00] [ 6.14528095e-02 -4.43345432e-03 9.98100144e-01 -1.82351822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.79534707 meters 0.03678119247870058 Centerline is valid? [True, True] Translation: X:-29.82, Y:1.12, Z:-1.82 [[ 9.98116330e-01 7.44371715e-04 -6.13452283e-02 -2.98218413e+01] [-4.77341579e-04 9.99990349e-01 4.36744819e-03 1.12414678e+00] [ 6.13478872e-02 -4.32993873e-03 9.98107053e-01 -1.82091816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.85534707 meters 0.036844129074904246 Centerline is valid? [True, True] Translation: X:-29.88, Y:1.13, Z:-1.82 [[ 9.98237093e-01 -1.12522922e-03 -5.93417247e-02 -2.98805724e+01] [ 1.37881543e-03 9.99990092e-01 4.23254686e-03 1.13383461e+00] [ 5.93363742e-02 -4.30690656e-03 9.98228754e-01 -1.81863569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.91534707 meters 0.03261383226035427 Centerline is valid? [True, True] Translation: X:-29.94, Y:1.15, Z:-1.82 [[ 9.98221344e-01 4.02652330e-03 -5.94805473e-02 -2.99385221e+01] [-3.78046095e-03 9.99983828e-01 4.24880712e-03 1.15000104e+00] [ 5.94966933e-02 -4.01638607e-03 9.98220423e-01 -1.81843775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975347069999998 meters 0.029754009489259527 Centerline is valid? [True, True] Translation: X:-30.00, Y:1.16, Z:-1.82 [[ 9.98196600e-01 9.80980223e-03 -5.92225870e-02 -2.99976481e+01] [-9.57585152e-03 9.99945191e-01 4.23288044e-03 1.16280071e+00] [ 5.92608648e-02 -3.65814016e-03 9.98235828e-01 -1.82277460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.03534707 meters 0.02730019427193018 Centerline is valid? [True, True] Translation: X:-30.06, Y:1.18, Z:-1.82 [[ 9.98180837e-01 1.51748024e-02 -5.83501608e-02 -3.00572433e+01] [-1.49567955e-02 9.99879441e-01 4.17113338e-03 1.17582084e+00] [ 5.84064223e-02 -3.29081399e-03 9.98287464e-01 -1.82009546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.09534707 meters 0.028984024386250164 Centerline is valid? [True, True] Translation: X:-30.12, Y:1.18, Z:-1.82 [[ 9.97845441e-01 2.05554935e-02 -6.23052741e-02 -3.01171322e+01] [-2.03172102e-02 9.99783656e-01 4.45565689e-03 1.18202829e+00] [ 6.23833829e-02 -3.18018757e-03 9.98047193e-01 -1.82315140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.15534707 meters 0.023848347547150844 Centerline is valid? [True, True] Translation: X:-30.18, Y:1.21, Z:-1.81 [[ 9.97674913e-01 3.60914257e-02 -5.78115665e-02 -3.01755941e+01] [-3.59122308e-02 9.99346389e-01 4.13592427e-03 1.20521493e+00] [ 5.79230516e-02 -2.05016557e-03 9.98318945e-01 -1.81257273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.21534707 meters 0.019893942167459742 Centerline is valid? [True, True] Translation: X:-30.23, Y:1.22, Z:-1.82 [[ 9.97288184e-01 4.28804949e-02 -5.98125580e-02 -3.02338566e+01] [-4.27008650e-02 9.99078740e-01 4.27874543e-03 1.21655230e+00] [ 5.99409298e-02 -1.71309429e-03 9.98200456e-01 -1.82226977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.27534707 meters 0.01950850264733934 Centerline is valid? [True, True] Translation: X:-30.29, Y:1.23, Z:-1.82 [[ 9.97125537e-01 4.59742446e-02 -6.02248541e-02 -3.02923738e+01] [-4.57975581e-02 9.98941437e-01 4.31156342e-03 1.22553354e+00] [ 6.03593231e-02 -1.54101874e-03 9.98175524e-01 -1.81924452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.33534707 meters 0.01990275893445516 Centerline is valid? [True, True] Translation: X:-30.35, Y:1.24, Z:-1.81 [[ 9.96932657e-01 5.17231721e-02 -5.87366286e-02 -3.03502991e+01] [-5.15637265e-02 9.98660756e-01 4.22801474e-03 1.23735920e+00] [ 5.88766522e-02 -1.18636652e-03 9.98264560e-01 -1.81415992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.39534707 meters 0.018161524643349008 Centerline is valid? [True, True] Translation: X:-30.41, Y:1.24, Z:-1.82 [[ 9.96760351e-01 4.95812439e-02 -6.33285277e-02 -3.04087629e+01] [-4.93909937e-02 9.98769078e-01 4.56711970e-03 1.24481635e+00] [ 6.34770187e-02 -1.42446492e-03 9.97982284e-01 -1.81511794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.45534707 meters 0.018141598168025408 Centerline is valid? [True, True] Translation: X:-30.47, Y:1.25, Z:-1.82 [[ 9.96719659e-01 5.08561432e-02 -6.29569269e-02 -3.04671028e+01] [-5.06691484e-02 9.98705064e-01 4.56425465e-03 1.25226280e+00] [ 6.31075221e-02 -1.35930847e-03 9.98005808e-01 -1.81574996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.51534707 meters 0.0192699102520557 Centerline is valid? [True, True] Translation: X:-30.53, Y:1.26, Z:-1.81 [[ 9.96888778e-01 4.96655194e-02 -6.12053994e-02 -3.05254413e+01] [-4.94851590e-02 9.98764901e-01 4.46002982e-03 1.25926769e+00] [ 6.13513144e-02 -1.41739475e-03 9.98115227e-01 -1.81108836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.57534707 meters 0.021714034987793687 Centerline is valid? [True, True] Translation: X:-30.58, Y:1.27, Z:-1.81 [[ 9.96839631e-01 4.48684033e-02 -6.55559044e-02 -3.05837237e+01] [-4.46493302e-02 9.98991172e-01 4.80379322e-03 1.26687464e+00] [ 6.57053082e-02 -1.86158424e-03 9.97837335e-01 -1.81109958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635347069999998 meters 0.020760789906404353 Centerline is valid? [True, True] Translation: X:-30.64, Y:1.28, Z:-1.81 [[ 9.96993311e-01 4.28911585e-02 -6.45343872e-02 -3.06411974e+01] [-4.26743335e-02 9.99077815e-01 4.73514726e-03 1.27882326e+00] [ 6.46779705e-02 -1.96694817e-03 9.97904250e-01 -1.80975502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.69534707 meters 0.02049264765323855 Centerline is valid? [True, True] Translation: X:-30.70, Y:1.29, Z:-1.81 [[ 9.96804778e-01 4.25037037e-02 -6.76289168e-02 -3.06987246e+01] [-4.22640516e-02 9.99094109e-01 4.97111870e-03 1.29089643e+00] [ 6.77789433e-02 -2.09696284e-03 9.97698160e-01 -1.80724254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.75534707 meters 0.02001728960727604 Centerline is valid? [True, True] Translation: X:-30.76, Y:1.31, Z:-1.80 [[ 9.96748978e-01 4.55282687e-02 -6.64729370e-02 -3.07566053e+01] [-4.53028867e-02 9.98961305e-01 4.89481350e-03 1.30853163e+00] [ 6.66267443e-02 -1.86748442e-03 9.97776222e-01 -1.80222418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815347069999998 meters 0.019435074083699985 Centerline is valid? [True, True] Translation: X:-30.81, Y:1.32, Z:-1.80 [[ 9.96458639e-01 4.81754017e-02 -6.89152430e-02 -3.08135423e+01] [-4.79376667e-02 9.98837308e-01 5.10027040e-03 1.32342804e+00] [ 6.90808234e-02 -1.77857255e-03 9.97609481e-01 -1.80289054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.87534707 meters 0.019684343822925335 Centerline is valid? [True, True] Translation: X:-30.87, Y:1.34, Z:-1.80 [[ 9.96130631e-01 4.85157252e-02 -7.32802227e-02 -3.08710883e+01] [-4.82468794e-02 9.98820652e-01 5.43548844e-03 1.33842243e+00] [ 7.34575065e-02 -1.87891446e-03 9.97296578e-01 -1.80166633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.93534707 meters 0.019512046813700546 Centerline is valid? [True, True] Translation: X:-30.93, Y:1.35, Z:-1.80 [[ 9.95814709e-01 5.12384631e-02 -7.56814707e-02 -3.09287815e+01] [-5.09572897e-02 9.98684892e-01 5.64286541e-03 1.35465343e+00] [ 7.58710732e-02 -1.76272574e-03 9.97116078e-01 -1.80335037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.99534707 meters 0.018329446177071544 Centerline is valid? [True, True] Translation: X:-30.99, Y:1.37, Z:-1.80 [[ 9.95547118e-01 5.47386663e-02 -7.67438247e-02 -3.09855847e+01] [-5.44579473e-02 9.98499524e-01 5.74742964e-03 1.37120481e+00] [ 7.69432790e-02 -1.54252585e-03 9.97034278e-01 -1.80011994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055347069999996 meters 0.018305402852210887 Centerline is valid? [True, True] Translation: X:-31.04, Y:1.39, Z:-1.80 [[ 9.95316303e-01 5.74142807e-02 -7.77756841e-02 -3.10429528e+01] [-5.71330410e-02 9.98349503e-01 5.83821869e-03 1.38572383e+00] [ 7.79825127e-02 -1.36731289e-03 9.96953789e-01 -1.80104591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11534707 meters 0.01840182290797277 Centerline is valid? [True, True] Translation: X:-31.10, Y:1.40, Z:-1.81 [[ 9.94917629e-01 6.06129319e-02 -8.04051254e-02 -3.10992610e+01] [-6.03201597e-02 9.98160641e-01 6.06743256e-03 1.40105293e+00] [ 8.06249964e-02 -1.18654561e-03 9.96743800e-01 -1.80668540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175347069999994 meters 0.017869517256795534 Centerline is valid? [True, True] Translation: X:-31.16, Y:1.42, Z:-1.81 [[ 9.94571195e-01 6.43855278e-02 -8.17474247e-02 -3.11567154e+01] [-6.40929055e-02 9.97924668e-01 6.20140430e-03 1.41542542e+00] [ 8.19770523e-02 -9.28308127e-04 9.96633785e-01 -1.80662165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235347069999996 meters 0.01716799355099307 Centerline is valid? [True, True] Translation: X:-31.21, Y:1.43, Z:-1.81 [[ 9.94212424e-01 6.97260900e-02 -8.17308323e-02 -3.12146563e+01] [-6.94493542e-02 9.97566041e-01 6.22737864e-03 1.43046849e+00] [ 8.19661136e-02 -5.15183693e-04 9.96634984e-01 -1.80645010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29534707 meters 0.016593194036141214 Centerline is valid? [True, True] Translation: X:-31.27, Y:1.45, Z:-1.81 [[ 9.94108620e-01 7.04484657e-02 -8.23715129e-02 -3.12714690e+01] [-7.01678612e-02 9.97515303e-01 6.30007898e-03 1.44574912e+00] [ 8.26106756e-02 -4.83129941e-04 9.96581779e-01 -1.80775084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35534706999999 meters 0.01668020847526453 Centerline is valid? [True, True] Translation: X:-31.33, Y:1.46, Z:-1.81 [[ 9.93881083e-01 7.04581683e-02 -8.50649081e-02 -3.13291329e+01] [-7.01576189e-02 9.97514603e-01 6.52115544e-03 1.45986415e+00] [ 8.53129567e-02 -5.13301630e-04 9.96354072e-01 -1.81167082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415347069999996 meters 0.016282506833112293 Centerline is valid? [True, True] Translation: X:-31.38, Y:1.48, Z:-1.81 [[ 9.93450373e-01 7.51094549e-02 -8.61099605e-02 -3.13847570e+01] [-7.48163814e-02 9.97175285e-01 6.63024380e-03 1.47822226e+00] [ 8.63647184e-02 -1.44382526e-04 9.96263577e-01 -1.81304147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47534707 meters 0.01659596557491015 Centerline is valid? [True, True] Translation: X:-31.44, Y:1.50, Z:-1.82 [[ 9.93102026e-01 8.05285901e-02 -8.52262402e-02 -3.14420638e+01] [-8.02592352e-02 9.96752255e-01 6.58769740e-03 1.49804007e+00] [ 8.54799451e-02 2.97937219e-04 9.96339847e-01 -1.81880100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53534706999999 meters 0.016447234346342637 Centerline is valid? [True, True] Translation: X:-31.50, Y:1.52, Z:-1.82 [[ 9.92577236e-01 8.54216233e-02 -8.65654511e-02 -3.14998877e+01] [-8.51601726e-02 9.96344643e-01 6.71547435e-03 1.51873691e+00] [ 8.68226702e-02 7.06301786e-04 9.96223532e-01 -1.82017813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595347069999995 meters 0.017863771250506998 Centerline is valid? [True, True] Translation: X:-31.56, Y:1.53, Z:-1.82 [[ 9.92259757e-01 9.06296463e-02 -8.48931156e-02 -3.15605825e+01] [-9.03971809e-02 9.95884015e-01 6.58629641e-03 1.53462962e+00] [ 8.51406104e-02 1.13878145e-03 9.96368295e-01 -1.82023095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65534707 meters 0.017890720296575114 Centerline is valid? [True, True] Translation: X:-31.62, Y:1.55, Z:-1.82 [[ 9.91951360e-01 9.20917858e-02 -8.68999548e-02 -3.16204577e+01] [-9.18541864e-02 9.95749675e-01 6.73741104e-03 1.54866673e+00] [ 8.71510620e-02 1.29894060e-03 9.96194261e-01 -1.82386798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71534706999999 meters 0.017300075527408282 Centerline is valid? [True, True] Translation: X:-31.68, Y:1.56, Z:-1.83 [[ 9.92126500e-01 9.05231293e-02 -8.65480882e-02 -3.16811949e+01] [-9.02820235e-02 9.95893675e-01 6.70406473e-03 1.55651217e+00] [ 8.67995665e-02 1.16245626e-03 9.96225117e-01 -1.82520575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775347069999995 meters 0.017257460667880222 Centerline is valid? [True, True] Translation: X:-31.74, Y:1.56, Z:-1.83 [[ 9.92538695e-01 8.72228562e-02 -8.52004293e-02 -3.17425361e+01] [-8.69776357e-02 9.96188447e-01 6.59307354e-03 1.56358485e+00] [ 8.54507500e-02 8.66651292e-04 9.96342019e-01 -1.83121375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83534707 meters 0.016762806452030304 Centerline is valid? [True, True] Translation: X:-31.80, Y:1.57, Z:-1.83 [[ 9.93041210e-01 8.31779188e-02 -8.33701876e-02 -3.18035800e+01] [-8.29294957e-02 9.96534580e-01 6.44433820e-03 1.56776033e+00] [ 8.36173016e-02 5.14354207e-04 9.96497808e-01 -1.83027202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89534706999999 meters 0.017117998094070375 Centerline is valid? [True, True] Translation: X:-31.86, Y:1.57, Z:-1.83 [[ 9.93203888e-01 8.41056456e-02 -8.04504618e-02 -3.18642722e+01] [-8.38776688e-02 9.96456677e-01 6.21507110e-03 1.57194410e+00] [ 8.06881224e-02 5.75164406e-04 9.96739232e-01 -1.82978239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955347069999995 meters 0.016385493782996394 Centerline is valid? [True, True] Translation: X:-31.93, Y:1.58, Z:-1.83 [[ 9.93591233e-01 8.05760973e-02 -7.92713963e-02 -3.19258736e+01] [-8.03439051e-02 9.96748418e-01 6.11945505e-03 1.57623219e+00] [ 7.95067207e-02 2.88736658e-04 9.96834288e-01 -1.83324762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01534707 meters 0.016725677168589012 Centerline is valid? [True, True] Translation: X:-31.99, Y:1.58, Z:-1.84 [[ 9.93656002e-01 8.00399302e-02 -7.90022792e-02 -3.19862788e+01] [-7.98082163e-02 9.96791626e-01 6.09120418e-03 1.58049049e+00] [ 7.92363499e-02 2.52469404e-04 9.96855826e-01 -1.83889233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07534707 meters 0.016766286561471628 Centerline is valid? [True, True] Translation: X:-32.05, Y:1.58, Z:-1.84 [[ 9.93846744e-01 8.05867064e-02 -7.59896799e-02 -3.20473214e+01] [-8.03743275e-02 9.96747560e-01 5.85394402e-03 1.58480619e+00] [ 7.62142781e-02 2.89696212e-04 9.97091420e-01 -1.84020379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135347069999995 meters 0.016858848238625428 Centerline is valid? [True, True] Translation: X:-32.11, Y:1.59, Z:-1.84 [[ 9.94096855e-01 7.98263154e-02 -7.34792598e-02 -3.21085970e+01] [-7.96259919e-02 9.96808762e-01 5.65632397e-03 1.58695732e+00] [ 7.36962935e-02 2.27925068e-04 9.97280705e-01 -1.84046729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19534707 meters 0.01689705391940046 Centerline is valid? [True, True] Translation: X:-32.17, Y:1.59, Z:-1.84 [[ 9.94086547e-01 8.10024834e-02 -7.23224348e-02 -3.21697830e+01] [-8.08122486e-02 9.96713848e-01 5.55744292e-03 1.58895274e+00] [ 7.25349389e-02 3.19959332e-04 9.97365821e-01 -1.84390142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25534707 meters 0.01673965699815629 Centerline is valid? [True, True] Translation: X:-32.23, Y:1.59, Z:-1.85 [[ 9.94194740e-01 7.99302571e-02 -7.20275895e-02 -3.22315176e+01] [-7.97391400e-02 9.96800428e-01 5.52956088e-03 1.58889272e+00] [ 7.22391113e-02 2.45957709e-04 9.97387312e-01 -1.84638315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315347069999994 meters 0.016763294530840248 Centerline is valid? [True, True] Translation: X:-32.29, Y:1.59, Z:-1.85 [[ 9.94472584e-01 7.83461002e-02 -6.99011288e-02 -3.22938750e+01] [-7.81625687e-02 9.96926211e-01 5.36113153e-03 1.58864118e+00] [ 7.01062913e-02 1.32153462e-04 9.97539518e-01 -1.85045027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37534707 meters 0.016852191784194025 Centerline is valid? [True, True] Translation: X:-32.35, Y:1.59, Z:-1.85 [[ 9.94520496e-01 7.87649365e-02 -6.87391258e-02 -3.23548466e+01] [-7.85889322e-02 9.96893203e-01 5.26521040e-03 1.59107048e+00] [ 6.89402812e-02 1.65774837e-04 9.97620775e-01 -1.85375501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43534707 meters 0.01703082289025617 Centerline is valid? [True, True] Translation: X:-32.42, Y:1.59, Z:-1.86 [[ 9.94668857e-01 7.86522945e-02 -6.66909466e-02 -3.24171469e+01] [-7.84867015e-02 9.96902097e-01 5.10353585e-03 1.58891729e+00] [ 6.68857493e-02 1.58024249e-04 9.97760628e-01 -1.85551053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495347069999994 meters 0.017130231792712614 Centerline is valid? [True, True] Translation: X:-32.48, Y:1.59, Z:-1.86 [[ 9.94792146e-01 7.74993174e-02 -6.62000129e-02 -3.24793649e+01] [-7.73340460e-02 9.96992401e-01 5.05934808e-03 1.58786490e+00] [ 6.63930059e-02 8.65151133e-05 9.97793546e-01 -1.86076273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555347069999996 meters 0.016668057970775797 Centerline is valid? [True, True] Translation: X:-32.54, Y:1.59, Z:-1.86 [[ 9.95112791e-01 7.45160050e-02 -6.47911922e-02 -3.25405295e+01] [-7.43518039e-02 9.97219812e-01 4.94520007e-03 1.58555414e+00] [ 6.49795571e-02 -1.03689828e-04 9.97886590e-01 -1.86404471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61534707 meters 0.016440014742030953 Centerline is valid? [True, True] Translation: X:-32.60, Y:1.58, Z:-1.87 [[ 9.95138003e-01 7.56878021e-02 -6.30215201e-02 -3.26026928e+01] [-7.55350941e-02 9.97131564e-01 4.80556099e-03 1.58434154e+00] [ 6.32044693e-02 -2.18599053e-05 9.98000598e-01 -1.86506857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675347069999994 meters 0.016513125814419504 Centerline is valid? [True, True] Translation: X:-32.66, Y:1.58, Z:-1.87 [[ 9.95514000e-01 7.05453487e-02 -6.30494266e-02 -3.26641721e+01] [-7.03823982e-02 9.97508513e-01 4.80453552e-03 1.58398322e+00] [ 6.32312775e-02 -3.45412524e-04 9.97998841e-01 -1.86817512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735347069999996 meters 0.01616594367990521 Centerline is valid? [True, True] Translation: X:-32.73, Y:1.59, Z:-1.87 [[ 9.95531668e-01 7.09983404e-02 -6.22570007e-02 -3.27250876e+01] [-7.08405455e-02 9.97476386e-01 4.74101794e-03 1.58547736e+00] [ 6.24364924e-02 -3.09513601e-04 9.98048891e-01 -1.86935555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79534707 meters 0.019063669997934334 Centerline is valid? [True, True] Translation: X:-32.78, Y:1.59, Z:-1.87 [[ 9.95709623e-01 6.90814238e-02 -6.15638173e-02 -3.27839131e+01] [-6.89234720e-02 9.97610934e-01 4.68813451e-03 1.59201256e+00] [ 6.17406003e-02 -4.24828613e-04 9.98092139e-01 -1.86953795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85534706999999 meters 0.01592654672534943 Centerline is valid? [True, True] Translation: X:-32.84, Y:1.60, Z:-1.87 [[ 9.95659876e-01 6.98677698e-02 -6.14809422e-02 -3.28426899e+01] [-6.97116560e-02 9.97556190e-01 4.68320007e-03 1.59744053e+00] [ 6.16578993e-02 -3.76936109e-04 9.98097271e-01 -1.87494268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915347069999996 meters 0.01581294161485046 Centerline is valid? [True, True] Translation: X:-32.90, Y:1.60, Z:-1.88 [[ 9.95705928e-01 6.95743722e-02 -6.10664466e-02 -3.29032799e+01] [-6.94196105e-02 9.97576689e-01 4.65483361e-03 1.60362201e+00] [ 6.12423207e-02 -3.95636489e-04 9.98122849e-01 -1.87826442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97534707 meters 0.016035929960391437 Centerline is valid? [True, True] Translation: X:-32.96, Y:1.61, Z:-1.88 [[ 9.95990499e-01 6.58827370e-02 -6.05176975e-02 -3.29630313e+01] [-6.57239452e-02 9.97827182e-01 4.61288015e-03 1.60511883e+00] [ 6.06901127e-02 -6.16922962e-04 9.98156466e-01 -1.88261520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03534706999999 meters 0.01730691711937938 Centerline is valid? [True, True] Translation: X:-33.02, Y:1.61, Z:-1.88 [[ 9.96326906e-01 5.92377456e-02 -6.18351530e-02 -3.30217509e+01] [-5.90591464e-02 9.98243356e-01 4.71365229e-03 1.60555200e+00] [ 6.20057568e-02 -1.04440724e-03 9.98075245e-01 -1.88440712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095347069999995 meters 0.018359886918410902 Centerline is valid? [True, True] Translation: X:-33.08, Y:1.61, Z:-1.89 [[ 9.96655976e-01 5.42282887e-02 -6.11241166e-02 -3.30806141e+01] [-5.40429870e-02 9.98527634e-01 4.68192905e-03 1.60759992e+00] [ 6.12880125e-02 -1.36294273e-03 9.98119192e-01 -1.88901177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15534707 meters 0.019260807052349636 Centerline is valid? [True, True] Translation: X:-33.14, Y:1.61, Z:-1.89 [[ 9.96897914e-01 4.92603662e-02 -6.13837519e-02 -3.31380523e+01] [-4.90637225e-02 9.98784556e-01 4.70760426e-03 1.61250771e+00] [ 6.15410417e-02 -1.68128550e-03 9.98103138e-01 -1.89312487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21534706999999 meters 0.019242251583043244 Centerline is valid? [True, True] Translation: X:-33.20, Y:1.62, Z:-1.89 [[ 9.97019918e-01 4.63302452e-02 -6.16829942e-02 -3.31958782e+01] [-4.61256259e-02 9.98924411e-01 4.73785555e-03 1.61714210e+00] [ 6.18361547e-02 -1.87856963e-03 9.98084546e-01 -1.89439547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275347069999995 meters 0.02441496401599952 Centerline is valid? [True, True] Translation: X:-33.26, Y:1.61, Z:-1.90 [[ 9.97233797e-01 4.00897745e-02 -6.25904411e-02 -3.32561672e+01] [-3.98663097e-02 9.99193419e-01 4.81555085e-03 1.61146510e+00] [ 6.27330112e-02 -2.30698014e-03 9.98027679e-01 -1.89832532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33534707 meters 0.021557412783537275 Centerline is valid? [True, True] Translation: X:-33.31, Y:1.63, Z:-1.90 [[ 9.97385303e-01 3.68374885e-02 -6.21736016e-02 -3.33131637e+01] [-3.66105157e-02 9.99318148e-01 4.78628464e-03 1.62504287e+00] [ 6.23075231e-02 -2.49756234e-03 9.98053874e-01 -1.89836828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39534706999999 meters 0.023557441774681047 Centerline is valid? [True, True] Translation: X:-33.37, Y:1.63, Z:-1.90 [[ 9.97520151e-01 3.10105263e-02 -6.31814519e-02 -3.33733045e+01] [-3.07639461e-02 9.99514804e-01 4.87206236e-03 1.62795383e+00] [ 6.33018817e-02 -2.91626960e-03 9.97990164e-01 -1.90175277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455347069999995 meters 0.026215776709667307 Centerline is valid? [True, True] Translation: X:-33.43, Y:1.63, Z:-1.90 [[ 9.97556283e-01 2.69572458e-02 -6.44574940e-02 -3.34332851e+01] [-2.66920466e-02 9.99631338e-01 4.97209596e-03 1.62561288e+00] [ 6.45677650e-02 -3.23944313e-03 9.97908067e-01 -1.90452383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51534707 meters 0.0268132432147341 Centerline is valid? [True, True] Translation: X:-33.49, Y:1.63, Z:-1.91 [[ 9.97706446e-01 2.21956233e-02 -6.39468686e-02 -3.34930633e+01] [-2.19246655e-02 9.99747441e-01 4.93593451e-03 1.62975249e+00] [ 6.40402744e-02 -3.52259997e-03 9.97941098e-01 -1.90655323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57534707 meters 0.026351496012264816 Centerline is valid? [True, True] Translation: X:-33.55, Y:1.63, Z:-1.91 [[ 9.97801285e-01 2.09299310e-02 -6.28850883e-02 -3.35511836e+01] [-2.06653700e-02 9.99774662e-01 4.85459973e-03 1.63283853e+00] [ 6.29725244e-02 -3.54438223e-03 9.98008967e-01 -1.90826818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635347069999995 meters 0.028756149022810228 Centerline is valid? [True, True] Translation: X:-33.61, Y:1.63, Z:-1.91 [[ 9.97805316e-01 1.76884257e-02 -6.38096423e-02 -3.36110722e+01] [-1.74079829e-02 9.99836225e-01 4.94832548e-03 1.63350764e+00] [ 6.38867200e-02 -3.82666830e-03 9.97949820e-01 -1.91209753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69534707 meters 0.027105656966930694 Centerline is valid? [True, True] Translation: X:-33.67, Y:1.64, Z:-1.91 [[ 9.97772001e-01 1.73279849e-02 -6.44265132e-02 -3.36685661e+01] [-1.70412385e-02 9.99842297e-01 4.99765545e-03 1.64201955e+00] [ 6.45029523e-02 -3.88861310e-03 9.97909940e-01 -1.91117646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75534707 meters 0.028233418362602635 Centerline is valid? [True, True] Translation: X:-33.73, Y:1.64, Z:-1.91 [[ 9.97775622e-01 1.80019716e-02 -6.41851711e-02 -3.37267332e+01] [-1.77182784e-02 9.99830585e-01 4.98644017e-03 1.64375340e+00] [ 6.42640629e-02 -3.83809771e-03 9.97925548e-01 -1.91486297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815347069999994 meters 0.03083578357307689 Centerline is valid? [True, True] Translation: X:-33.79, Y:1.64, Z:-1.91 [[ 9.97674863e-01 1.79488704e-02 -6.57472866e-02 -3.37858059e+01] [-1.76495010e-02 9.99831068e-01 5.13138630e-03 1.64268226e+00] [ 6.58282823e-02 -3.95904833e-03 9.97823112e-01 -1.91401435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87534707 meters 0.028696167320899663 Centerline is valid? [True, True] Translation: X:-33.84, Y:1.65, Z:-1.91 [[ 9.97590742e-01 1.97573335e-02 -6.65008282e-02 -3.38425514e+01] [-1.94535291e-02 9.99797172e-01 5.21295253e-03 1.65150207e+00] [ 6.65903340e-02 -3.90671738e-03 9.97772752e-01 -1.91487492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93534707 meters 0.030167445311399716 Centerline is valid? [True, True] Translation: X:-33.90, Y:1.65, Z:-1.92 [[ 9.97540831e-01 2.18599520e-02 -6.65915403e-02 -3.39024948e+01] [-2.15593679e-02 9.99753894e-01 5.22922827e-03 1.65032211e+00] [ 6.66894624e-02 -3.78069720e-03 9.97766617e-01 -1.91653811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995347069999994 meters 0.03253092510290966 Centerline is valid? [True, True] Translation: X:-33.96, Y:1.65, Z:-1.91 [[ 9.97668323e-01 1.84765526e-02 -6.57003295e-02 -3.39627271e+01] [-1.81764690e-02 9.99821467e-01 5.16232566e-03 1.65003123e+00] [ 6.57839819e-02 -3.95608878e-03 9.97826046e-01 -1.91434747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055347069999996 meters 0.029842338633689305 Centerline is valid? [True, True] Translation: X:-34.02, Y:1.66, Z:-1.92 [[ 9.97611309e-01 2.01301658e-02 -6.60791351e-02 -3.40197299e+01] [-1.98300158e-02 9.99789869e-01 5.19510134e-03 1.65577607e+00] [ 6.61698280e-02 -3.87234156e-03 9.97800861e-01 -1.91707043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11534707 meters 0.03078628604484097 Centerline is valid? [True, True] Translation: X:-34.08, Y:1.66, Z:-1.92 [[ 9.97462982e-01 2.19440991e-02 -6.77204199e-02 -3.40781827e+01] [-2.16320297e-02 9.99751749e-01 5.33816335e-03 1.65622959e+00] [ 6.78207494e-02 -3.85969020e-03 9.97690056e-01 -1.92076646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175347069999994 meters 0.025992768423248665 Centerline is valid? [True, True] Translation: X:-34.13, Y:1.67, Z:-1.92 [[ 9.97485163e-01 2.34272322e-02 -6.68918076e-02 -3.41347525e+01] [-2.31246954e-02 9.99718574e-01 5.29360270e-03 1.67085343e+00] [ 6.69969970e-02 -3.73343748e-03 9.97746192e-01 -1.92243594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235347069999996 meters 0.02488014060380349 Centerline is valid? [True, True] Translation: X:-34.19, Y:1.68, Z:-1.92 [[ 9.97170034e-01 3.35032628e-02 -6.73012221e-02 -3.41949868e+01] [-3.32193144e-02 9.99433852e-01 5.33407999e-03 1.67691317e+00] [ 6.74418287e-02 -3.08328427e-03 9.97718444e-01 -1.92187775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29534707 meters 0.022740436184035515 Centerline is valid? [True, True] Translation: X:-34.25, Y:1.69, Z:-1.92 [[ 9.97102440e-01 3.55558722e-02 -6.72495703e-02 -3.42518302e+01] [-3.52769544e-02 9.99363357e-01 5.33086651e-03 1.68712904e+00] [ 6.73962999e-02 -2.94305998e-03 9.97721944e-01 -1.92327023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35534706999999 meters 0.020723966086682918 Centerline is valid? [True, True] Translation: X:-34.31, Y:1.70, Z:-1.92 [[ 9.96701455e-01 4.39391411e-02 -6.82316732e-02 -3.43112996e+01] [-4.36710330e-02 9.99031281e-01 5.41675498e-03 1.69858701e+00] [ 6.84035834e-02 -2.41913991e-03 9.97654799e-01 -1.92394453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415347069999996 meters 0.01875209838967337 Centerline is valid? [True, True] Translation: X:-34.37, Y:1.71, Z:-1.93 [[ 9.96470335e-01 4.95594574e-02 -6.77549430e-02 -3.43693839e+01] [-4.93078876e-02 9.98769129e-01 5.38128941e-03 1.70778523e+00] [ 6.79382392e-02 -2.02144215e-03 9.97687481e-01 -1.92536713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47534707 meters 0.018747589692157604 Centerline is valid? [True, True] Translation: X:-34.43, Y:1.72, Z:-1.93 [[ 9.96358288e-01 4.97234687e-02 -6.92657044e-02 -3.44254129e+01] [-4.94605439e-02 9.98760897e-01 5.50681435e-03 1.71523139e+00] [ 6.94536950e-02 -2.06084071e-03 9.97583048e-01 -1.92963348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53534706999999 meters 0.01864883455678686 Centerline is valid? [True, True] Translation: X:-34.48, Y:1.72, Z:-1.93 [[ 9.96122444e-01 5.43988390e-02 -6.91436403e-02 -3.44845235e+01] [-5.41472459e-02 9.98517764e-01 5.50911328e-03 1.71873754e+00] [ 6.93408425e-02 -1.74381369e-03 9.97591503e-01 -1.93122047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595347069999995 meters 0.017082507896281927 Centerline is valid? [True, True] Translation: X:-34.54, Y:1.73, Z:-1.93 [[ 9.95946105e-01 5.71112423e-02 -6.94957696e-02 -3.45417447e+01] [-5.68631366e-02 9.98366586e-01 5.54474861e-03 1.73023248e+00] [ 6.96989217e-02 -1.57052334e-03 9.97566837e-01 -1.92814898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65534707 meters 0.017194950430966915 Centerline is valid? [True, True] Translation: X:-34.60, Y:1.74, Z:-1.93 [[ 9.95799062e-01 5.91187542e-02 -6.99228226e-02 -3.45995594e+01] [-5.88718210e-02 9.98249905e-01 5.58882886e-03 1.73682916e+00] [ 7.01308556e-02 -1.44886664e-03 9.97536748e-01 -1.93175866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71534706999999 meters 0.017315897929779205 Centerline is valid? [True, True] Translation: X:-34.66, Y:1.74, Z:-1.93 [[ 9.95613918e-01 6.26109231e-02 -6.95183363e-02 -3.46581763e+01] [-6.23735794e-02 9.98037264e-01 5.58170228e-03 1.74302012e+00] [ 6.97313657e-02 -1.22111301e-03 9.97565058e-01 -1.93197201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775347069999995 meters 0.018777104073426077 Centerline is valid? [True, True] Translation: X:-34.72, Y:1.75, Z:-1.93 [[ 9.95544181e-01 6.44936663e-02 -6.87920869e-02 -3.47166436e+01] [-6.42641007e-02 9.97917508e-01 5.54725652e-03 1.74941015e+00] [ 6.90065909e-02 -1.10167735e-03 9.97615596e-01 -1.92843071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83534707 meters 0.017808411488116207 Centerline is valid? [True, True] Translation: X:-34.77, Y:1.76, Z:-1.94 [[ 9.95527142e-01 6.24984775e-02 -7.08494831e-02 -3.47746378e+01] [-6.22482295e-02 9.98044212e-01 5.73669165e-03 1.75788633e+00] [ 7.10694510e-02 -1.30077736e-03 9.97470521e-01 -1.93845238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89534706999999 meters 0.016805915298956694 Centerline is valid? [True, True] Translation: X:-34.83, Y:1.77, Z:-1.94 [[ 9.95323252e-01 6.42924288e-02 -7.20979042e-02 -3.48311666e+01] [-6.40363594e-02 9.97930361e-01 5.85993854e-03 1.77036834e+00] [ 7.23254372e-02 -1.21564578e-03 9.97380345e-01 -1.94191979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955347069999995 meters 0.016863634133926688 Centerline is valid? [True, True] Translation: X:-34.89, Y:1.78, Z:-1.95 [[ 9.94857430e-01 6.92332166e-02 -7.39287240e-02 -3.48882878e+01] [-6.89767611e-02 9.97600106e-01 6.01959484e-03 1.78422658e+00] [ 7.41680588e-02 -8.89274722e-04 9.97245360e-01 -1.94664135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01534707 meters 0.017502264903147786 Centerline is valid? [True, True] Translation: X:-34.95, Y:1.80, Z:-1.95 [[ 9.94470970e-01 7.30450706e-02 -7.54447282e-02 -3.49460724e+01] [-7.27869406e-02 9.97328433e-01 6.16910469e-03 1.79707367e+00] [ 7.56937952e-02 -6.43604578e-04 9.97130902e-01 -1.94829241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07534706999999 meters 0.015099943335265311 Centerline is valid? [True, True] Translation: X:-35.00, Y:1.81, Z:-1.96 [[ 9.93865154e-01 7.98960516e-02 -7.64766386e-02 -3.50022657e+01] [-7.96492838e-02 9.96803190e-01 6.27631357e-03 1.81393010e+00] [ 7.67336100e-02 -1.46499864e-04 9.97051619e-01 -1.95551563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135347069999995 meters 0.015204605327123895 Centerline is valid? [True, True] Translation: X:-35.06, Y:1.83, Z:-1.96 [[ 9.93400144e-01 8.39280200e-02 -7.81808248e-02 -3.50599175e+01] [-8.36818878e-02 9.96471807e-01 6.42493025e-03 1.83035556e+00] [ 7.84442194e-02 1.59792375e-04 9.96918492e-01 -1.95716906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19534707 meters 0.015594176232074503 Centerline is valid? [True, True] Translation: X:-35.12, Y:1.85, Z:-1.96 [[ 9.92900089e-01 8.92585528e-02 -7.86277573e-02 -3.51195263e+01] [-8.90257971e-02 9.96008322e-01 6.46768390e-03 1.84522341e+00] [ 7.88911967e-02 5.78134844e-04 9.96883065e-01 -1.95902359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25534707 meters 0.015901243073048143 Centerline is valid? [True, True] Translation: X:-35.18, Y:1.86, Z:-1.96 [[ 9.92695689e-01 8.97935743e-02 -8.05753297e-02 -3.51795632e+01] [-8.95509490e-02 9.95960194e-01 6.62714891e-03 1.85914362e+00] [ 8.08448964e-02 6.36855090e-04 9.96726491e-01 -1.96347271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315347069999994 meters 0.016195276401909035 Centerline is valid? [True, True] Translation: X:-35.24, Y:1.87, Z:-1.97 [[ 9.92632017e-01 8.84600531e-02 -8.28039722e-02 -3.52402732e+01] [-8.81995116e-02 9.96079575e-01 6.80635174e-03 1.86960048e+00] [ 8.30814357e-02 5.47067252e-04 9.96542611e-01 -1.96656221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37534707 meters 0.01615794494272565 Centerline is valid? [True, True] Translation: X:-35.30, Y:1.88, Z:-1.97 [[ 9.92732423e-01 8.84123256e-02 -8.16431096e-02 -3.53014855e+01] [-8.81591954e-02 9.96083817e-01 6.70718064e-03 1.88012561e+00] [ 8.19163776e-02 5.39155161e-04 9.96639060e-01 -1.96701463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43534707 meters 0.01633285655192172 Centerline is valid? [True, True] Translation: X:-35.36, Y:1.89, Z:-1.97 [[ 9.92957534e-01 8.43591463e-02 -8.31797500e-02 -3.53615627e+01] [-8.40824686e-02 9.96435392e-01 6.83000691e-03 1.88661853e+00] [ 8.34594203e-02 2.12051899e-04 9.96511154e-01 -1.97035601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495347069999994 meters 0.016347581475439202 Centerline is valid? [True, True] Translation: X:-35.42, Y:1.89, Z:-1.97 [[ 9.93129973e-01 8.27667225e-02 -8.27195633e-02 -3.54207282e+01] [-8.24876426e-02 9.96568946e-01 6.79156309e-03 1.89287923e+00] [ 8.29978634e-02 7.84368983e-05 9.96549722e-01 -1.96922975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555347069999996 meters 0.016649663108552322 Centerline is valid? [True, True] Translation: X:-35.48, Y:1.90, Z:-1.97 [[ 9.93420032e-01 8.00437187e-02 -8.19124084e-02 -3.54791063e+01] [-7.97601701e-02 9.96791342e-01 6.73322836e-03 1.89813904e+00] [ 8.21885321e-02 -1.55576307e-04 9.96616787e-01 -1.97219218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61534707 meters 0.016843088092279638 Centerline is valid? [True, True] Translation: X:-35.54, Y:1.91, Z:-1.97 [[ 9.93539254e-01 7.84434105e-02 -8.20145263e-02 -3.55366419e+01] [-7.81518123e-02 9.96918519e-01 6.76459837e-03 1.90591260e+00] [ 8.22924383e-02 -3.11310149e-04 9.96608177e-01 -1.96907414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675347069999994 meters 0.017066386856445525 Centerline is valid? [True, True] Translation: X:-35.59, Y:1.91, Z:-1.97 [[ 9.93652296e-01 7.68078453e-02 -8.21928835e-02 -3.55943635e+01] [-7.65080025e-02 9.97045806e-01 6.79605922e-03 1.91453465e+00] [ 8.24720604e-02 -4.64506513e-04 9.96593269e-01 -1.97174835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735347069999996 meters 0.017001596763373303 Centerline is valid? [True, True] Translation: X:-35.65, Y:1.92, Z:-1.97 [[ 9.93584972e-01 7.73528757e-02 -8.24950640e-02 -3.56510173e+01] [-7.70503626e-02 9.97003677e-01 6.84912613e-03 1.92453370e+00] [ 8.27776817e-02 -4.48914210e-04 9.96567937e-01 -1.97394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79534707 meters 0.016732016911890774 Centerline is valid? [True, True] Translation: X:-35.71, Y:1.94, Z:-1.97 [[ 9.93373436e-01 7.98198455e-02 -8.26922577e-02 -3.57069764e+01] [-7.95221446e-02 9.96809269e-01 6.89273533e-03 1.93702297e+00] [ 8.29785860e-02 -2.71194497e-04 9.96551294e-01 -1.97400400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85534706999999 meters 0.016619612432544076 Centerline is valid? [True, True] Translation: X:-35.77, Y:1.95, Z:-1.97 [[ 9.93236627e-01 8.13178756e-02 -8.28758404e-02 -3.57655625e+01] [-8.10221964e-02 9.96688203e-01 6.93029844e-03 1.94746596e+00] [ 8.31649296e-02 -1.68643629e-04 9.96535783e-01 -1.97342433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915347069999996 meters 0.01604854117854033 Centerline is valid? [True, True] Translation: X:-35.82, Y:1.96, Z:-1.98 [[ 9.92970001e-01 8.50364667e-02 -8.23369684e-02 -3.58236355e+01] [-8.47552359e-02 9.96377833e-01 6.91115680e-03 1.95660658e+00] [ 8.26264305e-02 1.15917810e-04 9.96580584e-01 -1.97656056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97534707 meters 0.01625292521019938 Centerline is valid? [True, True] Translation: X:-35.88, Y:1.96, Z:-1.98 [[ 9.92785856e-01 8.64133768e-02 -8.31202307e-02 -3.58835800e+01] [-8.61299213e-02 9.96259345e-01 6.99669043e-03 1.96293254e+00] [ 8.34139143e-02 2.12923636e-04 9.96514964e-01 -1.97936435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03534706999999 meters 0.015554798091145466 Centerline is valid? [True, True] Translation: X:-35.94, Y:1.97, Z:-1.98 [[ 9.92615217e-01 8.88736588e-02 -8.25621241e-02 -3.59446579e+01] [-8.86030036e-02 9.96042817e-01 6.94361746e-03 1.96897395e+00] [ 8.28525154e-02 4.22911841e-04 9.96561730e-01 -1.98182417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095347069999995 meters 0.0160498314368731 Centerline is valid? [True, True] Translation: X:-36.01, Y:1.97, Z:-1.99 [[ 9.92426132e-01 9.05948627e-02 -8.29635094e-02 -3.60061607e+01] [-9.03279596e-02 9.95887665e-01 6.97268848e-03 1.97433009e+00] [ 8.32540254e-02 5.74046269e-04 9.96528192e-01 -1.98946834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15534707 meters 0.01641464339370257 Centerline is valid? [True, True] Translation: X:-36.07, Y:1.98, Z:-1.99 [[ 9.92059198e-01 9.38521535e-02 -8.37276603e-02 -3.60686928e+01] [-9.35925338e-02 9.95585772e-01 7.02915397e-03 1.97836356e+00] [ 8.40177685e-02 8.62947022e-04 9.96463883e-01 -1.98882431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21534706999999 meters 0.017102380174369398 Centerline is valid? [True, True] Translation: X:-36.13, Y:1.98, Z:-1.99 [[ 9.91714396e-01 9.86830306e-02 -8.22448544e-02 -3.61313808e+01] [-9.84497274e-02 9.95118123e-01 6.89721391e-03 1.98273437e+00] [ 8.25239832e-02 1.25691716e-03 9.96588286e-01 -1.98910931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275347069999995 meters 0.01761410270409577 Centerline is valid? [True, True] Translation: X:-36.19, Y:1.99, Z:-2.00 [[ 9.91409836e-01 1.00148975e-01 -8.41232371e-02 -3.61933741e+01] [-9.99109325e-02 9.94971440e-01 7.04548182e-03 1.98833218e+00] [ 8.44058162e-02 1.41987108e-03 9.96430450e-01 -1.99713538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33534707 meters 0.018767103424847324 Centerline is valid? [True, True] Translation: X:-36.26, Y:2.00, Z:-2.00 [[ 9.91008318e-01 1.04056732e-01 -8.41112936e-02 -3.62550490e+01] [-1.03833543e-01 9.94569804e-01 7.03565406e-03 1.99639171e+00] [ 8.43866600e-02 1.76118195e-03 9.96431528e-01 -1.99936985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39534706999999 meters 0.01911947973494297 Centerline is valid? [True, True] Translation: X:-36.32, Y:2.00, Z:-2.00 [[ 9.90756987e-01 1.06976093e-01 -8.34068858e-02 -3.63162735e+01] [-1.06767524e-01 9.94259582e-01 6.96987110e-03 1.99799343e+00] [ 8.36737050e-02 1.99969818e-03 9.96491200e-01 -1.99919890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455347069999995 meters 0.019187616139704093 Centerline is valid? [True, True] Translation: X:-36.38, Y:2.00, Z:-2.00 [[ 9.90845830e-01 1.06643045e-01 -8.27756144e-02 -3.63776999e+01] [-1.06436912e-01 9.94295435e-01 6.91172387e-03 1.99643546e+00] [ 8.30405028e-02 1.96192803e-03 9.96544242e-01 -1.99902573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51534707 meters 0.018222621471522326 Centerline is valid? [True, True] Translation: X:-36.44, Y:2.00, Z:-2.00 [[ 9.91231986e-01 1.02326275e-01 -8.35971539e-02 -3.64401123e+01] [-1.02101215e-01 9.94749567e-01 6.97424587e-03 1.99694552e+00] [ 8.38718813e-02 1.62227542e-03 9.96475226e-01 -2.00288053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57534706999999 meters 0.01845456417041239 Centerline is valid? [True, True] Translation: X:-36.50, Y:2.00, Z:-2.00 [[ 9.91273731e-01 1.01976744e-01 -8.35292379e-02 -3.65023522e+01] [-1.01751449e-01 9.94785498e-01 6.96100625e-03 1.99878092e+00] [ 8.38035353e-02 1.59895834e-03 9.96481014e-01 -2.00342909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635347069999995 meters 0.018151063810633177 Centerline is valid? [True, True] Translation: X:-36.56, Y:2.00, Z:-2.00 [[ 9.91391814e-01 1.00999933e-01 -8.33143730e-02 -3.65634373e+01] [-1.00772939e-01 9.94885272e-01 6.93613220e-03 2.00065816e+00] [ 8.35887915e-02 1.51940954e-03 9.96499175e-01 -2.00228083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69534707 meters 0.017997512715801054 Centerline is valid? [True, True] Translation: X:-36.63, Y:2.00, Z:-2.01 [[ 9.91757583e-01 9.80056258e-02 -8.25335983e-02 -3.66259459e+01] [-9.77730000e-02 9.95185062e-01 6.86533299e-03 2.00312680e+00] [ 8.28090454e-02 1.26081145e-03 9.96564635e-01 -2.00600967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75534707 meters 0.01813096702436989 Centerline is valid? [True, True] Translation: X:-36.69, Y:2.01, Z:-2.00 [[ 9.91451224e-01 1.01410177e-01 -8.21002253e-02 -3.66872138e+01] [-1.01192206e-01 9.94843502e-01 6.82237868e-03 2.00753936e+00] [ 8.23687343e-02 1.54384726e-03 9.96600727e-01 -2.00439278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815347069999994 meters 0.018828534914674115 Centerline is valid? [True, True] Translation: X:-36.75, Y:2.01, Z:-2.01 [[ 9.91032294e-01 1.04873081e-01 -8.28047672e-02 -3.67485001e+01] [-1.04663866e-01 9.94483888e-01 6.87543314e-03 2.01420164e+00] [ 8.30690547e-02 1.85289076e-03 9.96542071e-01 -2.00515042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87534707 meters 0.019767814917590328 Centerline is valid? [True, True] Translation: X:-36.81, Y:2.02, Z:-2.01 [[ 9.90700056e-01 1.07669656e-01 -8.31904127e-02 -3.68098648e+01] [-1.07468826e-01 9.94184501e-01 6.90141921e-03 2.02300143e+00] [ 8.34496924e-02 2.10313955e-03 9.96509772e-01 -2.00947561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93534707 meters 0.020490549316491 Centerline is valid? [True, True] Translation: X:-36.87, Y:2.03, Z:-2.01 [[ 9.90477854e-01 1.09237431e-01 -8.37902352e-02 -3.68721215e+01] [-1.09040016e-01 9.94013117e-01 6.94255856e-03 2.02973131e+00] [ 8.40469801e-02 2.26003805e-03 9.96459230e-01 -2.01329828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995347069999994 meters 0.02071924276624186 Centerline is valid? [True, True] Translation: X:-36.93, Y:2.03, Z:-2.02 [[ 9.90320757e-01 1.10918605e-01 -8.34377730e-02 -3.69347032e+01] [-1.10729736e-01 9.93826587e-01 6.90217874e-03 2.03372065e+00] [ 8.36882572e-02 2.40367171e-03 9.96489086e-01 -2.01515234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055347069999996 meters 0.021256497672468393 Centerline is valid? [True, True] Translation: X:-37.00, Y:2.04, Z:-2.02 [[ 9.90251655e-01 1.10766479e-01 -8.44538143e-02 -3.69969041e+01] [-1.10573193e-01 9.93843492e-01 6.97726163e-03 2.03969715e+00] [ 8.47067204e-02 2.42908305e-03 9.96402966e-01 -2.01794971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11534707 meters 0.020670694966155756 Centerline is valid? [True, True] Translation: X:-37.06, Y:2.04, Z:-2.02 [[ 9.90120666e-01 1.12183814e-01 -8.41181189e-02 -3.70580315e+01] [-1.11997761e-01 9.93684207e-01 6.94245042e-03 2.04323843e+00] [ 8.43656769e-02 2.54717738e-03 9.96431606e-01 -2.02074589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175347069999994 meters 0.021045432413356685 Centerline is valid? [True, True] Translation: X:-37.12, Y:2.05, Z:-2.02 [[ 9.90026895e-01 1.12971265e-01 -8.41679266e-02 -3.71194674e+01] [-1.12788346e-01 9.93594796e-01 6.94046981e-03 2.04927514e+00] [ 8.44128876e-02 2.62190946e-03 9.96427413e-01 -2.02433060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235347069999996 meters 0.021632120288928552 Centerline is valid? [True, True] Translation: X:-37.18, Y:2.06, Z:-2.03 [[ 9.90065971e-01 1.11828238e-01 -8.52280364e-02 -3.71812444e+01] [-1.11637136e-01 9.93724242e-01 7.02001266e-03 2.05615800e+00] [ 8.54782015e-02 2.56433820e-03 9.96336741e-01 -2.03003401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29534707 meters 0.021690022707248797 Centerline is valid? [True, True] Translation: X:-37.24, Y:2.06, Z:-2.03 [[ 9.90150420e-01 1.11101044e-01 -8.51980247e-02 -3.72430197e+01] [-1.10908055e-01 9.93805950e-01 7.00979688e-03 2.06197170e+00] [ 8.54490996e-02 2.50839389e-03 9.96339380e-01 -2.03485562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35534706999999 meters 0.020260337578161033 Centerline is valid? [True, True] Translation: X:-37.30, Y:2.06, Z:-2.04 [[ 9.90123035e-01 1.10696999e-01 -8.60380672e-02 -3.73039423e+01] [-1.10499285e-01 9.93851044e-01 7.07175579e-03 2.06299810e+00] [ 8.62918451e-02 2.50523664e-03 9.96266752e-01 -2.03651062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415347069999996 meters 0.02155390575580198 Centerline is valid? [True, True] Translation: X:-37.36, Y:2.08, Z:-2.04 [[ 9.90164038e-01 1.10581941e-01 -8.57135512e-02 -3.73649028e+01] [-1.10385844e-01 9.93863886e-01 7.03861821e-03 2.07624196e+00] [ 8.59659471e-02 2.49217603e-03 9.96294959e-01 -2.04220371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47534707 meters 0.022100707074823336 Centerline is valid? [True, True] Translation: X:-37.43, Y:2.08, Z:-2.05 [[ 9.89981010e-01 1.11570200e-01 -8.65429915e-02 -3.74270092e+01] [-1.11374798e-01 9.93753123e-01 7.09820624e-03 2.08456144e+00] [ 8.67943164e-02 2.61161880e-03 9.96222830e-01 -2.04609539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53534706999999 meters 0.021417309307021563 Centerline is valid? [True, True] Translation: X:-37.49, Y:2.09, Z:-2.05 [[ 9.89937531e-01 1.11849880e-01 -8.66792299e-02 -3.74880842e+01] [-1.11655672e-01 9.93721585e-01 7.10089575e-03 2.08879941e+00] [ 8.69292560e-02 2.64878445e-03 9.96210966e-01 -2.05000847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595347069999995 meters 0.021010628281501062 Centerline is valid? [True, True] Translation: X:-37.55, Y:2.10, Z:-2.06 [[ 9.90492882e-01 1.06295045e-01 -8.73224674e-02 -3.75496706e+01] [-1.06076973e-01 9.94332236e-01 7.14710318e-03 2.09619191e+00] [ 8.75872459e-02 2.18374819e-03 9.96154459e-01 -2.05921001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65534707 meters 0.019885260895257474 Centerline is valid? [True, True] Translation: X:-37.61, Y:2.10, Z:-2.06 [[ 9.90862954e-01 1.01884919e-01 -8.83746016e-02 -3.76112719e+01] [-1.01644725e-01 9.94794521e-01 7.22567466e-03 2.09896251e+00] [ 8.86507568e-02 1.82315877e-03 9.96061102e-01 -2.06268793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71534706999999 meters 0.018737926368898098 Centerline is valid? [True, True] Translation: X:-37.67, Y:2.10, Z:-2.07 [[ 9.91504808e-01 9.60617022e-02 -8.76947309e-02 -3.76724276e+01] [-9.58028995e-02 9.95374536e-01 7.16504642e-03 2.10042776e+00] [ 8.79773887e-02 1.29723152e-03 9.96121627e-01 -2.06768895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775347069999995 meters 0.017984314806203175 Centerline is valid? [True, True] Translation: X:-37.73, Y:2.10, Z:-2.07 [[ 9.91845018e-01 9.14858072e-02 -8.87344738e-02 -3.77322971e+01] [-9.12027937e-02 9.95805969e-01 7.24719784e-03 2.10075626e+00] [ 8.90253344e-02 9.04734838e-04 9.96028951e-01 -2.07159604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83534707 meters 0.018012049923334838 Centerline is valid? [True, True] Translation: X:-37.79, Y:2.10, Z:-2.07 [[ 9.92342546e-01 8.57476714e-02 -8.89022365e-02 -3.77915802e+01] [-8.54399535e-02 9.96316812e-01 7.26804616e-03 2.10014915e+00] [ 8.91980109e-02 3.83411520e-04 9.96013839e-01 -2.07430652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89534706999999 meters 0.01808896823697915 Centerline is valid? [True, True] Translation: X:-37.85, Y:2.10, Z:-2.07 [[ 9.92494153e-01 8.30650623e-02 -8.97527264e-02 -3.78497555e+01] [-8.27378679e-02 9.96544120e-01 7.36634156e-03 2.10260335e+00] [ 9.00544374e-02 1.14898302e-04 9.95936838e-01 -2.07463699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955347069999995 meters 0.017927000017537043 Centerline is valid? [True, True] Translation: X:-37.91, Y:2.11, Z:-2.08 [[ 9.92535518e-01 8.29047338e-02 -8.94430041e-02 -3.79072684e+01] [-8.25762929e-02 9.96557475e-01 7.37261172e-03 2.10802299e+00] [ 8.97463187e-02 6.82927139e-05 9.95964655e-01 -2.07839512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01534707 meters 0.018202898592605994 Centerline is valid? [True, True] Translation: X:-37.96, Y:2.12, Z:-2.08 [[ 9.92331997e-01 8.38714186e-02 -9.07898230e-02 -3.79644689e+01] [-8.35344630e-02 9.96476577e-01 7.51167354e-03 2.11524834e+00] [ 9.10999468e-02 1.30005108e-04 9.95841746e-01 -2.08119962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07534706999999 meters 0.018213292010115477 Centerline is valid? [True, True] Translation: X:-38.02, Y:2.12, Z:-2.08 [[ 9.92177291e-01 8.59041144e-02 -9.05798388e-02 -3.80208092e+01] [-8.55758451e-02 9.96303364e-01 7.50882313e-03 2.12102660e+00] [ 9.08900368e-02 3.01362456e-04 9.95860889e-01 -2.08415992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135347069999995 meters 0.01847747589986682 Centerline is valid? [True, True] Translation: X:-38.08, Y:2.13, Z:-2.09 [[ 9.91927575e-01 8.86985477e-02 -9.06214902e-02 -3.80774219e+01] [-8.83798498e-02 9.96058371e-01 7.53155646e-03 2.12831862e+00] [ 9.09323320e-02 5.38355159e-04 9.95856928e-01 -2.09028229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19534707 meters 0.018742890942065445 Centerline is valid? [True, True] Translation: X:-38.14, Y:2.13, Z:-2.09 [[ 9.91634155e-01 9.21945983e-02 -9.03430076e-02 -3.81353540e+01] [-9.18898124e-02 9.95740664e-01 7.53610080e-03 2.13413271e+00] [ 9.06529941e-02 8.28547070e-04 9.95882196e-01 -2.09040628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25534707 meters 0.019096075283787536 Centerline is valid? [True, True] Translation: X:-38.19, Y:2.14, Z:-2.10 [[ 9.91601620e-01 9.22174312e-02 -9.06761923e-02 -3.81923719e+01] [-9.19086645e-02 9.95738562e-01 7.58381686e-03 2.13753399e+00] [ 9.09891414e-02 8.13802648e-04 9.95851552e-01 -2.09679069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315347069999994 meters 0.019607461122575606 Centerline is valid? [True, True] Translation: X:-38.25, Y:2.14, Z:-2.10 [[ 9.91499257e-01 9.50283108e-02 -8.88754372e-02 -3.82510217e+01] [-9.47402141e-02 9.95474048e-01 7.46398958e-03 2.13964819e+00] [ 8.91824816e-02 1.01953783e-03 9.96014782e-01 -2.09735233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37534707 meters 0.01911350396317133 Centerline is valid? [True, True] Translation: X:-38.31, Y:2.14, Z:-2.10 [[ 9.91795869e-01 9.09878502e-02 -8.97895670e-02 -3.83096891e+01] [-9.06752217e-02 9.95851797e-01 7.56328285e-03 2.13843825e+00] [ 9.01052684e-02 6.40456207e-04 9.95932041e-01 -2.10331079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43534707 meters 0.019583335693189298 Centerline is valid? [True, True] Translation: X:-38.37, Y:2.14, Z:-2.11 [[ 9.92545188e-01 8.15476592e-02 -9.05760976e-02 -3.83671561e+01] [-8.11889053e-02 9.96669416e-01 7.64440841e-03 2.13509918e+00] [ 9.08978099e-02 -2.33646578e-04 9.95860198e-01 -2.11066359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495347069999994 meters 0.019514981023095745 Centerline is valid? [True, True] Translation: X:-38.43, Y:2.13, Z:-2.11 [[ 9.93028856e-01 7.70552982e-02 -8.91973783e-02 -3.84255781e+01] [-7.66869935e-02 9.97026602e-01 7.55386183e-03 2.13264255e+00] [ 8.95142241e-02 -6.60923995e-04 9.95985325e-01 -2.11000852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555347069999996 meters 0.021541963171703735 Centerline is valid? [True, True] Translation: X:-38.48, Y:2.13, Z:-2.12 [[ 9.93538634e-01 6.79265963e-02 -9.09228306e-02 -3.84848630e+01] [-6.75049157e-02 9.97689162e-01 7.70859449e-03 2.12845457e+00] [ 9.12363413e-02 -1.52104842e-03 9.95828106e-01 -2.12293714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61534707 meters 0.02187194468753261 Centerline is valid? [True, True] Translation: X:-38.54, Y:2.13, Z:-2.13 [[ 9.93628679e-01 6.66660614e-02 -9.08718064e-02 -3.85428387e+01] [-6.62386165e-02 9.97773985e-01 7.71496356e-03 2.13177935e+00] [ 9.11838506e-02 -1.64658631e-03 9.95832714e-01 -2.12775075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675347069999994 meters 0.021347401507669967 Centerline is valid? [True, True] Translation: X:-38.60, Y:2.14, Z:-2.13 [[ 9.93427209e-01 6.99315687e-02 -9.06198414e-02 -3.86005187e+01] [-6.95175374e-02 9.97550849e-01 7.72107520e-03 2.14275665e+00] [ 9.09378467e-02 -1.37065798e-03 9.95855627e-01 -2.13193140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735347069999996 meters 0.020523291949843078 Centerline is valid? [True, True] Translation: X:-38.66, Y:2.16, Z:-2.14 [[ 9.93185832e-01 7.25096309e-02 -9.12373588e-02 -3.86572633e+01] [-7.20986746e-02 9.97367032e-01 7.79651145e-03 2.15584170e+00] [ 9.15624558e-02 -1.16529207e-03 9.95798654e-01 -2.13836039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79534707 meters 0.020197763841118144 Centerline is valid? [True, True] Translation: X:-38.72, Y:2.16, Z:-2.14 [[ 9.93188715e-01 7.35968841e-02 -9.03309221e-02 -3.87151135e+01] [-7.31976354e-02 9.97287504e-01 7.72921855e-03 2.16281737e+00] [ 9.06547463e-02 -1.06456274e-03 9.95881812e-01 -2.14096671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85534706999999 meters 0.020682524664850776 Centerline is valid? [True, True] Translation: X:-38.77, Y:2.17, Z:-2.15 [[ 9.93333179e-01 6.96327519e-02 -9.18720564e-02 -3.87722677e+01] [-6.92018076e-02 9.97571623e-01 7.87187932e-03 2.16742220e+00] [ 9.21970971e-02 -1.46168654e-03 9.95739704e-01 -2.14833671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915347069999996 meters 0.02283850538343223 Centerline is valid? [True, True] Translation: X:-38.83, Y:2.17, Z:-2.16 [[ 9.93604233e-01 6.46237437e-02 -9.25980549e-02 -3.88308540e+01] [-6.41632679e-02 9.97907792e-01 7.94447240e-03 2.16630812e+00] [ 9.29177220e-02 -1.95226760e-03 9.95671876e-01 -2.16127197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97534707 meters 0.02367333434543883 Centerline is valid? [True, True] Translation: X:-38.89, Y:2.17, Z:-2.17 [[ 9.93955121e-01 6.04498005e-02 -9.16462692e-02 -3.88885813e+01] [-5.99802353e-02 9.98168525e-01 7.87185527e-03 2.16822166e+00] [ 9.19542735e-02 -2.32730606e-03 9.95760511e-01 -2.16559904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03534706999999 meters 0.024937929064067953 Centerline is valid? [True, True] Translation: X:-38.95, Y:2.17, Z:-2.17 [[ 9.94134956e-01 5.74254521e-02 -9.16406407e-02 -3.89475539e+01] [-5.69418043e-02 9.98346356e-01 7.88572348e-03 2.16928769e+00] [ 9.19419409e-02 -2.62128994e-03 9.95760919e-01 -2.17188805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095347069999995 meters 0.026135216755588907 Centerline is valid? [True, True] Translation: X:-39.01, Y:2.17, Z:-2.18 [[ 9.94324563e-01 5.36986029e-02 -9.18429239e-02 -3.90060543e+01] [-5.31950420e-02 9.98552703e-01 7.92383382e-03 2.17350023e+00] [ 9.21354987e-02 -2.99327441e-03 9.95741980e-01 -2.17551955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15534707 meters 0.027359362484005743 Centerline is valid? [True, True] Translation: X:-39.06, Y:2.18, Z:-2.18 [[ 9.94490782e-01 4.98637748e-02 -9.22045979e-02 -3.90649708e+01] [-4.93391714e-02 9.98750347e-01 7.96176454e-03 2.17775225e+00] [ 9.24863778e-02 -3.36860299e-03 9.95708252e-01 -2.18211379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21534706999999 meters 0.02951788443584573 Centerline is valid? [True, True] Translation: X:-39.12, Y:2.18, Z:-2.19 [[ 9.94677236e-01 4.39693690e-02 -9.31873973e-02 -3.91246178e+01] [-4.34073846e-02 9.99025023e-01 8.05004316e-03 2.17944456e+00] [ 9.34504971e-02 -3.96217349e-03 9.95616043e-01 -2.19184374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275347069999995 meters 0.03150018847628065 Centerline is valid? [True, True] Translation: X:-39.18, Y:2.18, Z:-2.20 [[ 9.95019397e-01 3.87475592e-02 -9.18424015e-02 -3.91842453e+01] [-3.81793484e-02 9.99239386e-01 7.93636712e-03 2.17910305e+00] [ 9.20800598e-02 -4.39035617e-03 9.95741928e-01 -2.19545079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33534707 meters 0.03328413570220565 Centerline is valid? [True, True] Translation: X:-39.24, Y:2.18, Z:-2.20 [[ 9.95219468e-01 3.34772355e-02 -9.17468525e-02 -3.92437962e+01] [-3.28875559e-02 9.99427582e-01 7.93200624e-03 2.17956261e+00] [ 9.19598766e-02 -4.87675730e-03 9.95750771e-01 -2.20026445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39534706999999 meters 0.03633699777886897 Centerline is valid? [True, True] Translation: X:-39.30, Y:2.18, Z:-2.21 [[ 9.95380888e-01 2.63390483e-02 -9.23208705e-02 -3.93037689e+01] [-2.57110203e-02 9.99637521e-01 7.98565585e-03 2.18026557e+00] [ 9.24977407e-02 -5.57510543e-03 9.95697286e-01 -2.20858935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455347069999995 meters 0.036159017814038144 Centerline is valid? [True, True] Translation: X:-39.36, Y:2.19, Z:-2.21 [[ 9.95370262e-01 2.42496451e-02 -9.30053522e-02 -3.93619114e+01] [-2.36027319e-02 9.99689010e-01 8.04949693e-03 2.18588020e+00] [ 9.31716259e-02 -5.81704948e-03 9.95633070e-01 -2.21082826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51534707 meters 0.03485089299835651 Centerline is valid? [True, True] Translation: X:-39.42, Y:2.19, Z:-2.22 [[ 9.95359984e-01 2.57377278e-02 -9.27149983e-02 -3.94184900e+01] [-2.51004660e-02 9.99652658e-01 8.03309769e-03 2.19477057e+00] [ 9.28895482e-02 -5.66863433e-03 9.95660283e-01 -2.21516273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57534706999999 meters 0.03669592180354995 Centerline is valid? [True, True] Translation: X:-39.48, Y:2.20, Z:-2.22 [[ 9.95358722e-01 2.56186179e-02 -9.27615228e-02 -3.94767947e+01] [-2.49782282e-02 9.99655517e-01 8.05824925e-03 2.19878108e+00] [ 9.29360093e-02 -5.70383019e-03 9.95655746e-01 -2.22302706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635347069999995 meters 0.033980190742458734 Centerline is valid? [True, True] Translation: X:-39.54, Y:2.21, Z:-2.23 [[ 9.95096448e-01 3.20060550e-02 -9.35877728e-02 -3.95362696e+01] [-3.13802914e-02 9.99474283e-01 8.15076860e-03 2.21356460e+00] [ 9.37994461e-02 -5.17398930e-03 9.95577668e-01 -2.22740303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69534707 meters 0.028671784047433153 Centerline is valid? [True, True] Translation: X:-39.59, Y:2.24, Z:-2.23 [[ 9.94691537e-01 3.96483635e-02 -9.49565868e-02 -3.95938546e+01] [-3.90385858e-02 9.99203469e-01 8.27147845e-03 2.23854871e+00] [ 9.52089015e-02 -4.52059875e-03 9.95447050e-01 -2.23142956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75534707 meters 0.025646962730905797 Centerline is valid? [True, True] Translation: X:-39.65, Y:2.26, Z:-2.23 [[ 9.94140876e-01 5.15524206e-02 -9.50066642e-02 -3.96524396e+01] [-5.09958421e-02 9.98664553e-01 8.27861778e-03 2.25563128e+00] [ 9.53065706e-02 -3.38516748e-03 9.95442212e-01 -2.23414464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815347069999994 meters 0.024115105604855337 Centerline is valid? [True, True] Translation: X:-39.71, Y:2.27, Z:-2.24 [[ 9.93717635e-01 6.05808787e-02 -9.41021698e-02 -3.97114840e+01] [-6.00750176e-02 9.98160168e-01 8.20189047e-03 2.26823008e+00] [ 9.44259153e-02 -2.49717370e-03 9.95528759e-01 -2.24130868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87534707 meters 0.02363047578990762 Centerline is valid? [True, True] Translation: X:-39.77, Y:2.28, Z:-2.25 [[ 9.93682871e-01 6.27496821e-02 -9.30420853e-02 -3.97689328e+01] [-6.22641006e-02 9.98026713e-01 8.11556183e-03 2.27625477e+00] [ 9.33677355e-02 -2.27111302e-03 9.95629102e-01 -2.24540118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93534707 meters 0.023645601008415167 Centerline is valid? [True, True] Translation: X:-39.83, Y:2.28, Z:-2.25 [[ 9.93739104e-01 6.04402775e-02 -9.39657731e-02 -3.98267422e+01] [-5.99327963e-02 9.98168602e-01 8.21601236e-03 2.27986587e+00] [ 9.42902624e-02 -2.53294121e-03 9.95541526e-01 -2.25000371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995347069999994 meters 0.024099970918992873 Centerline is valid? [True, True] Translation: X:-39.88, Y:2.28, Z:-2.25 [[ 9.93891812e-01 5.86823358e-02 -9.34636295e-02 -3.98848377e+01] [-5.81697891e-02 9.98273017e-01 8.20121465e-03 2.28358513e+00] [ 9.37834858e-02 -2.71436047e-03 9.95588916e-01 -2.25318479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055347069999996 meters 0.026075542660136057 Centerline is valid? [True, True] Translation: X:-39.94, Y:2.28, Z:-2.26 [[ 9.94273673e-01 5.54267070e-02 -9.13659895e-02 -3.99439358e+01] [-5.49206560e-02 9.98458307e-01 8.04559369e-03 2.28267186e+00] [ 9.16710719e-02 -2.98164190e-03 9.95784879e-01 -2.26134193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11534707 meters 0.02842960489038678 Centerline is valid? [True, True] Translation: X:-40.00, Y:2.29, Z:-2.27 [[ 9.94360553e-01 5.04312438e-02 -9.32940532e-02 -4.00031795e+01] [-4.98796193e-02 9.98721273e-01 8.23664676e-03 2.28508918e+00] [ 9.35901399e-02 -3.53672477e-03 9.95604529e-01 -2.26928916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175347069999994 meters 0.027729138777792827 Centerline is valid? [True, True] Translation: X:-40.06, Y:2.29, Z:-2.27 [[ 9.94554981e-01 5.13869506e-02 -9.06629502e-02 -4.00619709e+01] [-5.08691305e-02 9.98673169e-01 8.01453781e-03 2.28890997e+00] [ 9.09544984e-02 -3.35895306e-03 9.95849385e-01 -2.27037612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235347069999996 meters 0.02711671229977959 Centerline is valid? [True, True] Translation: X:-40.12, Y:2.29, Z:-2.27 [[ 9.94764932e-01 5.24688170e-02 -8.76912388e-02 -4.01216940e+01] [-5.19869510e-02 9.98617525e-01 7.77140776e-03 2.29349707e+00] [ 8.79777644e-02 -3.17192377e-03 9.96117389e-01 -2.26769509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29534707 meters 0.02705546973054497 Centerline is valid? [True, True] Translation: X:-40.18, Y:2.30, Z:-2.27 [[ 9.94906254e-01 5.11294051e-02 -8.68753744e-02 -4.01799830e+01] [-5.06506017e-02 9.98686687e-01 7.70823471e-03 2.29924246e+00] [ 8.71553973e-02 -3.26868093e-03 9.96189366e-01 -2.26931269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35534706999999 meters 0.026292003252514143 Centerline is valid? [True, True] Translation: X:-40.24, Y:2.31, Z:-2.27 [[ 9.95115813e-01 4.91520443e-02 -8.56072139e-02 -4.02375520e+01] [-4.86776905e-02 9.98785464e-01 7.62094379e-03 2.30639370e+00] [ 8.58778258e-02 -3.41656022e-03 9.96299817e-01 -2.27232341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415347069999996 meters 0.0275690213625966 Centerline is valid? [True, True] Translation: X:-40.30, Y:2.31, Z:-2.28 [[ 9.95252568e-01 4.76568803e-02 -8.48595785e-02 -4.02959507e+01] [-4.71831981e-02 9.98857492e-01 7.57996817e-03 2.30920098e+00] [ 8.51238634e-02 -3.54003648e-03 9.96364088e-01 -2.27788549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47534707 meters 0.027335741614838576 Centerline is valid? [True, True] Translation: X:-40.35, Y:2.31, Z:-2.28 [[ 9.95332399e-01 4.49905289e-02 -8.53772068e-02 -4.03539764e+01] [-4.44993553e-02 9.98980135e-01 7.64834768e-03 2.31494236e+00] [ 8.56342368e-02 -3.81341758e-03 9.96319344e-01 -2.28054434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53534706999999 meters 0.027523672437846525 Centerline is valid? [True, True] Translation: X:-40.41, Y:2.32, Z:-2.28 [[ 9.95666934e-01 4.58410384e-02 -8.09070850e-02 -4.04134713e+01] [-4.54023216e-02 9.98942439e-01 7.25484574e-03 2.31507076e+00] [ 8.11540904e-02 -3.55004053e-03 9.96695245e-01 -2.27838745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595347069999995 meters 0.02777889949337977 Centerline is valid? [True, True] Translation: X:-40.47, Y:2.32, Z:-2.28 [[ 9.95880642e-01 4.31926536e-02 -7.97254117e-02 -4.04727644e+01] [-4.27574342e-02 9.99059834e-01 7.15887563e-03 2.31761821e+00] [ 7.99596674e-02 -3.72053162e-03 9.96791156e-01 -2.28024159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65534707 meters 0.030634345089880926 Centerline is valid? [True, True] Translation: X:-40.53, Y:2.31, Z:-2.28 [[ 9.96186368e-01 4.03156641e-02 -7.73780815e-02 -4.05330747e+01] [-3.98955806e-02 9.99179560e-01 6.96778676e-03 2.30876588e+00] [ 7.75955084e-02 -3.85417070e-03 9.96977473e-01 -2.28190865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71534706999999 meters 0.030889923530055898 Centerline is valid? [True, True] Translation: X:-40.59, Y:2.31, Z:-2.28 [[ 9.96368772e-01 3.85610731e-02 -7.59099010e-02 -4.05909091e+01] [-3.81509258e-02 9.99248535e-01 6.84633592e-03 2.30967038e+00] [ 7.61168595e-02 -3.92544231e-03 9.97091177e-01 -2.28215724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775347069999995 meters 0.03231250167524877 Centerline is valid? [True, True] Translation: X:-40.65, Y:2.30, Z:-2.28 [[ 9.96673807e-01 3.38946358e-02 -7.41112390e-02 -4.06521487e+01] [-3.34903698e-02 9.99416642e-01 6.69114127e-03 2.30469858e+00] [ 7.42947994e-02 -4.18687244e-03 9.97227533e-01 -2.27967282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83534707 meters 0.03204811052323017 Centerline is valid? [True, True] Translation: X:-40.71, Y:2.31, Z:-2.28 [[ 9.96798203e-01 3.10008718e-02 -7.37040557e-02 -4.07111980e+01] [-3.05929202e-02 9.99509753e-01 6.65778586e-03 2.30537560e+00] [ 7.38743197e-02 -4.38164669e-03 9.97257934e-01 -2.27925533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89534706999999 meters 0.032225112499141284 Centerline is valid? [True, True] Translation: X:-40.77, Y:2.30, Z:-2.28 [[ 9.96895948e-01 2.87398299e-02 -7.32972813e-02 -4.07697237e+01] [-2.83299403e-02 9.99576666e-01 6.62590306e-03 2.30475746e+00] [ 7.34566794e-02 -4.52882831e-03 9.97288126e-01 -2.27934299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955347069999995 meters 0.03111092553559323 Centerline is valid? [True, True] Translation: X:-40.83, Y:2.31, Z:-2.28 [[ 9.97073956e-01 3.07476100e-02 -6.99865070e-02 -4.08294307e+01] [-3.03785060e-02 9.99518407e-01 6.33243470e-03 2.30558051e+00] [ 7.01475092e-02 -4.18782019e-03 9.97527839e-01 -2.27567388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01534707 meters 0.03160844856048669 Centerline is valid? [True, True] Translation: X:-40.89, Y:2.30, Z:-2.27 [[ 9.97116614e-01 2.96930877e-02 -6.98339383e-02 -4.08890224e+01] [-2.93226134e-02 9.99549992e-01 6.32444081e-03 2.30455871e+00] [ 6.99903046e-02 -4.25849143e-03 9.97538582e-01 -2.27195988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07534706999999 meters 0.03151130033923013 Centerline is valid? [True, True] Translation: X:-40.95, Y:2.30, Z:-2.27 [[ 9.97111889e-01 3.23553154e-02 -6.87096319e-02 -4.09494771e+01] [-3.20015759e-02 9.99468320e-01 6.24309715e-03 2.30366747e+00] [ 6.88750977e-02 -4.02624990e-03 9.97617166e-01 -2.27046462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135347069999995 meters 0.02940241421016006 Centerline is valid? [True, True] Translation: X:-41.01, Y:2.31, Z:-2.27 [[ 9.97160311e-01 3.43636405e-02 -6.70108528e-02 -4.10082112e+01] [-3.40315208e-02 9.99402194e-01 6.09178728e-03 2.30996879e+00] [ 6.71801293e-02 -3.79400727e-03 9.97733650e-01 -2.26694971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19534707 meters 0.0315883496865863 Centerline is valid? [True, True] Translation: X:-41.07, Y:2.30, Z:-2.27 [[ 9.97191215e-01 3.33677921e-02 -6.70542449e-02 -4.10678474e+01] [-3.30325544e-02 9.99435647e-01 6.10234060e-03 2.30381923e+00] [ 6.72200243e-02 -3.87022744e-03 9.97730670e-01 -2.26594782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25534706999999 meters 0.030152440887309877 Centerline is valid? [True, True] Translation: X:-41.13, Y:2.31, Z:-2.26 [[ 9.96997972e-01 4.02981563e-02 -6.61143125e-02 -4.11280427e+01] [-3.99860522e-02 9.99181996e-01 6.03771414e-03 2.30758336e+00] [ 6.63035395e-02 -3.37593840e-03 9.97793788e-01 -2.26350963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315347069999994 meters 0.02805760295134078 Centerline is valid? [True, True] Translation: X:-41.19, Y:2.32, Z:-2.26 [[ 9.96674974e-01 4.69642271e-02 -6.65834606e-02 -4.11887423e+01] [-4.66623833e-02 9.98892201e-01 6.08214798e-03 2.31740189e+00] [ 6.67953429e-02 -2.95498172e-03 9.97762322e-01 -2.25809385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37534707 meters 0.02443051328573122 Centerline is valid? [True, True] Translation: X:-41.25, Y:2.33, Z:-2.26 [[ 9.96255331e-01 5.53154444e-02 -6.64493618e-02 -4.12467541e+01] [-5.50333906e-02 9.98466070e-01 6.06906646e-03 2.33217718e+00] [ 6.66831462e-02 -2.38940613e-03 9.97771341e-01 -2.25862964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43534707 meters 0.022706897014582565 Centerline is valid? [True, True] Translation: X:-41.31, Y:2.34, Z:-2.26 [[ 9.95797755e-01 6.27107231e-02 -6.67397676e-02 -4.13050710e+01] [-6.24426249e-02 9.98029928e-01 6.09760644e-03 2.34125201e+00] [ 6.69906708e-02 -1.90457652e-03 9.97751784e-01 -2.25790960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495347069999994 meters 0.022844017387847446 Centerline is valid? [True, True] Translation: X:-41.36, Y:2.34, Z:-2.25 [[ 9.95603314e-01 6.51066503e-02 -6.73436337e-02 -4.13640390e+01] [-6.48389163e-02 9.97876755e-01 6.15608188e-03 2.34128787e+00] [ 6.76014485e-02 -1.76252729e-03 9.97710849e-01 -2.25278699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555347069999996 meters 0.023183228977550107 Centerline is valid? [True, True] Translation: X:-41.42, Y:2.34, Z:-2.25 [[ 9.95624809e-01 6.39153324e-02 -6.81620862e-02 -4.14233861e+01] [-6.36376544e-02 9.97953564e-01 6.23963082e-03 2.33992096e+00] [ 6.84214050e-02 -1.87465596e-03 9.97654748e-01 -2.25228119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61534707 meters 0.023841318104981586 Centerline is valid? [True, True] Translation: X:-41.48, Y:2.34, Z:-2.25 [[ 9.95734836e-01 6.24562686e-02 -6.79069226e-02 -4.14825218e+01] [-6.21758127e-02 9.98045720e-01 6.23778505e-03 2.33540625e+00] [ 6.81638022e-02 -1.98901177e-03 9.97672161e-01 -2.25119060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675347069999994 meters 0.025392274940500763 Centerline is valid? [True, True] Translation: X:-41.54, Y:2.33, Z:-2.25 [[ 9.95807243e-01 5.92851718e-02 -6.96649283e-02 -4.15425281e+01] [-5.89807145e-02 9.98238472e-01 6.42097212e-03 2.32849877e+00] [ 6.99228800e-02 -2.28516330e-03 9.97549783e-01 -2.24888553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735347069999996 meters 0.0262589162755144 Centerline is valid? [True, True] Translation: X:-41.60, Y:2.32, Z:-2.25 [[ 9.95906557e-01 5.66627485e-02 -7.04234582e-02 -4.16019291e+01] [-5.63446047e-02 9.98390239e-01 6.49746180e-03 2.32462898e+00] [ 7.06782573e-02 -2.50288290e-03 9.97496025e-01 -2.24940966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79534707 meters 0.027693088071870833 Centerline is valid? [True, True] Translation: X:-41.66, Y:2.32, Z:-2.25 [[ 9.96084330e-01 5.20871979e-02 -7.14348082e-02 -4.16626570e+01] [-5.17476578e-02 9.98638404e-01 6.59685575e-03 2.31735374e+00] [ 7.16811546e-02 -2.87444063e-03 9.97423456e-01 -2.25069465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85534706999999 meters 0.028253492405678107 Centerline is valid? [True, True] Translation: X:-41.72, Y:2.31, Z:-2.25 [[ 9.96245618e-01 4.92167623e-02 -7.12206408e-02 -4.17223308e+01] [-4.88717061e-02 9.98783387e-01 6.58041690e-03 2.31081542e+00] [ 7.14578597e-02 -3.07503727e-03 9.97438880e-01 -2.24863521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915347069999996 meters 0.02909226805573767 Centerline is valid? [True, True] Translation: X:-41.78, Y:2.31, Z:-2.25 [[ 9.96244263e-01 4.92165665e-02 -7.12397174e-02 -4.17803835e+01] [-4.88707632e-02 9.98783370e-01 6.59001242e-03 2.30978682e+00] [ 7.14773829e-02 -3.08372271e-03 9.97437454e-01 -2.25208066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97534707 meters 0.028912020008548363 Centerline is valid? [True, True] Translation: X:-41.84, Y:2.31, Z:-2.25 [[ 9.96400886e-01 4.55364845e-02 -7.14961728e-02 -4.18399907e+01] [-4.51770387e-02 9.98956946e-01 6.63736306e-03 2.30897007e+00] [ 7.17238406e-02 -3.38348907e-03 9.97418790e-01 -2.25079254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03534706999999 meters 0.03126998459829705 Centerline is valid? [True, True] Translation: X:-41.90, Y:2.30, Z:-2.25 [[ 9.96634222e-01 4.21498504e-02 -7.03108685e-02 -4.19012606e+01] [-4.17936400e-02 9.99104923e-01 6.53030128e-03 2.30005527e+00] [ 7.05231860e-02 -3.56977461e-03 9.97503753e-01 -2.24957504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095347069999995 meters 0.03488990550848715 Centerline is valid? [True, True] Translation: X:-41.96, Y:2.29, Z:-2.25 [[ 9.97020951e-01 3.27736041e-02 -6.98220166e-02 -4.19629859e+01] [-3.23993226e-02 9.99453955e-01 6.48656070e-03 2.28829957e+00] [ 6.99964787e-02 -4.20505088e-03 9.97538375e-01 -2.25155812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15534707 meters 0.035597856625079534 Centerline is valid? [True, True] Translation: X:-42.02, Y:2.29, Z:-2.26 [[ 9.97202070e-01 2.66713073e-02 -6.98331743e-02 -4.20223946e+01] [-2.62818128e-02 9.99633503e-01 6.49052932e-03 2.28583456e+00] [ 6.99806916e-02 -4.63702686e-03 9.97537569e-01 -2.25560047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21534706999999 meters 0.03288264603688787 Centerline is valid? [True, True] Translation: X:-42.08, Y:2.30, Z:-2.26 [[ 9.96746559e-01 3.55729779e-02 -7.23246808e-02 -4.20808364e+01] [-3.51782268e-02 9.99358428e-01 6.72493481e-03 2.29938405e+00] [ 7.25175052e-02 -4.15880161e-03 9.97358469e-01 -2.26429246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275347069999995 meters 0.029384546449868577 Centerline is valid? [True, True] Translation: X:-42.14, Y:2.32, Z:-2.25 [[ 9.96475625e-01 4.84787283e-02 -6.84554066e-02 -4.21407018e+01] [-4.81554125e-02 9.98819567e-01 6.36629965e-03 2.31709415e+00] [ 6.86832296e-02 -3.04736409e-03 9.97633864e-01 -2.25117131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33534707 meters 0.027544182486143085 Centerline is valid? [True, True] Translation: X:-42.20, Y:2.33, Z:-2.27 [[ 9.95579968e-01 5.42348088e-02 -7.66753666e-02 -4.21972932e+01] [-5.38458038e-02 9.98523784e-01 7.13322683e-03 2.33418668e+00] [ 7.69490464e-02 -2.97305099e-03 9.97030594e-01 -2.26596357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39534706999999 meters 0.029000237520913807 Centerline is valid? [True, True] Translation: X:-42.26, Y:2.34, Z:-2.27 [[ 9.95717619e-01 5.06194903e-02 -7.73568971e-02 -4.22571103e+01] [-5.02121321e-02 9.98712599e-01 7.20321113e-03 2.33923129e+00] [ 7.76219306e-02 -3.28810950e-03 9.96977444e-01 -2.27002393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455347069999995 meters 0.02943648806254167 Centerline is valid? [True, True] Translation: X:-42.32, Y:2.34, Z:-2.26 [[ 9.96142393e-01 4.57884168e-02 -7.48582215e-02 -4.23168326e+01] [-4.53932587e-02 9.98944861e-01 6.97257039e-03 2.33902810e+00] [ 7.50984987e-02 -3.54761434e-03 9.97169810e-01 -2.25933915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51534707 meters 0.03235262628082574 Centerline is valid? [True, True] Translation: X:-42.38, Y:2.34, Z:-2.27 [[ 9.96473781e-01 3.98283403e-02 -7.38492227e-02 -4.23771464e+01] [-3.94271519e-02 9.99198741e-01 6.88300178e-03 2.33598238e+00] [ 7.40641889e-02 -3.94706628e-03 9.97245665e-01 -2.26861119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57534706999999 meters 0.03256290188157896 Centerline is valid? [True, True] Translation: X:-42.44, Y:2.34, Z:-2.27 [[ 9.96595023e-01 3.17874413e-02 -7.60783767e-02 -4.24357369e+01] [-3.13381458e-02 9.99483675e-01 7.09253490e-03 2.34145495e+00] [ 7.62645491e-02 -4.68422971e-03 9.97076615e-01 -2.26854106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635347069999995 meters 0.032967387997775745 Centerline is valid? [True, True] Translation: X:-42.49, Y:2.35, Z:-2.27 [[ 9.96671958e-01 3.01482297e-02 -7.57369980e-02 -4.24945441e+01] [-2.96978371e-02 9.99533945e-01 7.06626310e-03 2.34790748e+00] [ 7.59147357e-02 -4.79352125e-03 9.97102791e-01 -2.27058349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69534707 meters 0.03391585899065905 Centerline is valid? [True, True] Translation: X:-42.55, Y:2.35, Z:-2.27 [[ 9.96727048e-01 2.73937001e-02 -7.60577257e-02 -4.25537253e+01] [-2.69306605e-02 9.99612039e-01 7.10716283e-03 2.35320080e+00] [ 7.62229097e-02 -5.03561664e-03 9.97078087e-01 -2.27464780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75534706999999 meters 0.03641386118386809 Centerline is valid? [True, True] Translation: X:-42.61, Y:2.35, Z:-2.28 [[ 9.96756403e-01 2.34773823e-02 -7.69771706e-02 -4.26138865e+01] [-2.29911805e-02 9.99709766e-01 7.19644570e-03 2.35197725e+00] [ 7.71237829e-02 -5.40330732e-03 9.97006884e-01 -2.27635101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815347069999994 meters 0.04144740546073822 Centerline is valid? [True, True] Translation: X:-42.67, Y:2.35, Z:-2.28 [[ 9.96883724e-01 1.55091983e-02 -7.73453622e-02 -4.26746069e+01] [-1.49943696e-02 9.99861420e-01 7.23257366e-03 2.34614953e+00] [ 7.74468150e-02 -6.05029003e-03 9.96978127e-01 -2.28043744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87534707 meters 0.03884292829322679 Centerline is valid? [True, True] Translation: X:-42.73, Y:2.35, Z:-2.27 [[ 9.97231594e-01 1.67613415e-02 -7.24444925e-02 -4.27337260e+01] [-1.63130288e-02 9.99843976e-01 6.77565187e-03 2.35335997e+00] [ 7.25467584e-02 -5.57510503e-03 9.97349430e-01 -2.26516454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93534707 meters 0.04637632042430579 Centerline is valid? [True, True] Translation: X:-42.79, Y:2.35, Z:-2.29 [[ 9.96901578e-01 4.80746036e-04 -7.86575689e-02 -4.27937386e+01] [ 9.86435558e-05 9.99972896e-01 7.36192244e-03 2.34546634e+00] [ 7.86589762e-02 -7.34687116e-03 9.96874510e-01 -2.28832820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995347069999994 meters 0.04538551706423794 Centerline is valid? [True, True] Translation: X:-42.85, Y:2.35, Z:-2.29 [[ 9.97105308e-01 -4.71823033e-03 -7.58863833e-02 -4.28526127e+01] [ 5.27246175e-03 9.99960861e-01 7.10475202e-03 2.34810883e+00] [ 7.58498913e-02 -7.48429401e-03 9.97091159e-01 -2.28585800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055347069999996 meters 0.04989407761692084 Centerline is valid? [True, True] Translation: X:-42.91, Y:2.34, Z:-2.29 [[ 9.96868294e-01 -1.22590673e-02 -7.81237450e-02 -4.29135524e+01] [ 1.28697533e-02 9.99890401e-01 7.31820101e-03 2.34180102e+00] [ 7.80254684e-02 -8.30071588e-03 9.96916809e-01 -2.29270347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11534707 meters 0.04760445909289813 Centerline is valid? [True, True] Translation: X:-42.97, Y:2.35, Z:-2.30 [[ 9.96844184e-01 -1.46040935e-02 -7.80281599e-02 -4.29720510e+01] [ 1.52204560e-02 9.99857438e-01 7.31032842e-03 2.35189305e+00] [ 7.79102753e-02 -8.47488254e-03 9.96924353e-01 -2.29768556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175347069999994 meters 0.05149620054258054 Centerline is valid? [True, True] Translation: X:-43.03, Y:2.35, Z:-2.30 [[ 9.96743285e-01 -1.37737326e-02 -7.94550745e-02 -4.30313758e+01] [ 1.44109194e-02 9.99868391e-01 7.45159783e-03 2.34876647e+00] [ 7.93419812e-02 -8.57235077e-03 9.96810596e-01 -2.29774222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235347069999996 meters 0.0495601722566207 Centerline is valid? [True, True] Translation: X:-43.09, Y:2.36, Z:-2.31 [[ 9.96826062e-01 -2.41799783e-03 -7.95735889e-02 -4.30900098e+01] [ 3.02307264e-03 9.99967422e-01 7.48437447e-03 2.35995729e+00] [ 7.95528994e-02 -7.70117627e-03 9.96800897e-01 -2.30758662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29534707 meters 0.043533828948778656 Centerline is valid? [True, True] Translation: X:-43.15, Y:2.38, Z:-2.31 [[ 9.96880220e-01 8.65568418e-03 -7.84532076e-02 -4.31480485e+01] [-8.10136080e-03 9.99939941e-01 7.38118951e-03 2.38151370e+00] [ 7.85123851e-02 -6.72258409e-03 9.96890472e-01 -2.30504706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35534706999999 meters 0.0424303822579279 Centerline is valid? [True, True] Translation: X:-43.21, Y:2.39, Z:-2.31 [[ 9.96633697e-01 1.31686314e-02 -8.09188521e-02 -4.32073742e+01] [-1.25933569e-02 9.99891700e-01 7.61554712e-03 2.39412015e+00] [ 8.10103749e-02 -6.57087090e-03 9.96691599e-01 -2.31213541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415347069999996 meters 0.04101161227923796 Centerline is valid? [True, True] Translation: X:-43.27, Y:2.40, Z:-2.32 [[ 9.96745522e-01 1.53637477e-02 -7.91348192e-02 -4.32673442e+01] [-1.48204261e-02 9.99862427e-01 7.44856437e-03 2.40105488e+00] [ 7.92383703e-02 -6.25151145e-03 9.96836094e-01 -2.31543887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47534707 meters 0.043698025799917196 Centerline is valid? [True, True] Translation: X:-43.33, Y:2.40, Z:-2.32 [[ 9.96666014e-01 9.70346375e-03 -8.10104880e-02 -4.33278517e+01] [-9.11543673e-03 9.99929379e-01 7.62533979e-03 2.39875473e+00] [ 8.10787592e-02 -6.86147103e-03 9.96684080e-01 -2.32031165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53534706999999 meters 0.04837121443561478 Centerline is valid? [True, True] Translation: X:-43.39, Y:2.39, Z:-2.33 [[ 9.96735949e-01 3.15165160e-03 -8.06691733e-02 -4.33891931e+01] [-2.54723071e-03 9.99967918e-01 7.59440119e-03 2.38900430e+00] [ 8.06905202e-02 -7.36412968e-03 9.96711999e-01 -2.32786862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595347069999995 meters 0.046515891041655835 Centerline is valid? [True, True] Translation: X:-43.45, Y:2.39, Z:-2.33 [[ 9.96823085e-01 -5.46043387e-03 -7.94601787e-02 -4.34484773e+01] [ 6.07402386e-03 9.99953559e-01 7.48232542e-03 2.38890230e+00] [ 7.94156318e-02 -7.94119773e-03 9.96809959e-01 -2.32781453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65534707 meters 0.05236827505218797 Centerline is valid? [True, True] Translation: X:-43.51, Y:2.37, Z:-2.33 [[ 9.96687219e-01 -1.63221029e-02 -7.96754448e-02 -4.35099509e+01] [ 1.69736122e-02 9.99827759e-01 7.50658942e-03 2.37198041e+00] [ 7.95391981e-02 -8.83410184e-03 9.96792594e-01 -2.33239233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71534706999999 meters 0.048825577949501896 Centerline is valid? [True, True] Translation: X:-43.57, Y:2.38, Z:-2.33 [[ 9.96697862e-01 -2.17342991e-02 -7.82367648e-02 -4.35689113e+01] [ 2.23790612e-02 9.99722364e-01 7.37373951e-03 2.37586821e+00] [ 7.80547804e-02 -9.10025575e-03 9.96907537e-01 -2.33133089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775347069999995 meters 0.05239819106570358 Centerline is valid? [True, True] Translation: X:-43.63, Y:2.37, Z:-2.34 [[ 9.96495001e-01 -2.10740191e-02 -8.09543007e-02 -4.36276601e+01] [ 2.17630713e-02 9.99733975e-01 7.63861647e-03 2.36761713e+00] [ 8.07717884e-02 -9.37365734e-03 9.96688544e-01 -2.34019860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83534707 meters 0.0580464088086302 Centerline is valid? [True, True] Translation: X:-43.69, Y:2.36, Z:-2.35 [[ 9.96431785e-01 -1.93140221e-02 -8.21624351e-02 -4.36869195e+01] [ 2.00202134e-02 9.99769306e-01 7.77983994e-03 2.36198175e+00] [ 8.19932207e-02 -9.39698929e-03 9.96588585e-01 -2.35093269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89534706999999 meters 0.046357179424571564 Centerline is valid? [True, True] Translation: X:-43.74, Y:2.39, Z:-2.35 [[ 9.96563516e-01 -1.66623288e-03 -8.28153525e-02 -4.37435316e+01] [ 2.32416409e-03 9.99966497e-01 7.84878719e-03 2.39237765e+00] [ 8.27995000e-02 -8.01429142e-03 9.96534000e-01 -2.35329874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955347069999995 meters 0.04095957183189797 Centerline is valid? [True, True] Translation: X:-43.80, Y:2.41, Z:-2.36 [[ 9.96228191e-01 1.68632292e-02 -8.51176982e-02 -4.38012244e+01] [-1.62348251e-02 9.99835642e-01 8.06961600e-03 2.41254113e+00] [ 8.52397883e-02 -6.65730800e-03 9.96338225e-01 -2.36213591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01534707 meters 0.03382580680736636 Centerline is valid? [True, True] Translation: X:-43.86, Y:2.43, Z:-2.36 [[ 9.95817975e-01 3.33175772e-02 -8.50676183e-02 -4.38587420e+01] [-3.27493244e-02 9.99431039e-01 8.06716986e-03 2.43314662e+00] [ 8.52879967e-02 -5.24752573e-03 9.96342522e-01 -2.36385776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07534706999999 meters 0.03055847223362349 Centerline is valid? [True, True] Translation: X:-43.92, Y:2.45, Z:-2.37 [[ 9.95137272e-01 4.60809112e-02 -8.70537789e-02 -4.39172535e+01] [-4.55340980e-02 9.98928654e-01 8.25770596e-03 2.44524672e+00] [ 8.73410368e-02 -4.25363568e-03 9.96169388e-01 -2.37386467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135347069999995 meters 0.0277597474856787 Centerline is valid? [True, True] Translation: X:-43.98, Y:2.45, Z:-2.38 [[ 9.94840897e-01 5.14505209e-02 -8.74324518e-02 -4.39751423e+01] [-5.09193348e-02 9.98668309e-01 8.29632562e-03 2.45408153e+00] [ 8.77428691e-02 -3.80152174e-03 9.96135903e-01 -2.38079538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19534707 meters 0.026109223869121997 Centerline is valid? [True, True] Translation: X:-44.03, Y:2.46, Z:-2.39 [[ 9.94601648e-01 5.56311429e-02 -8.75941681e-02 -4.40335370e+01] [-5.51136754e-02 9.98445448e-01 8.31686722e-03 2.45788350e+00] [ 8.79206752e-02 -3.44433329e-03 9.96121524e-01 -2.38701607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25534706999999 meters 0.02519494909342872 Centerline is valid? [True, True] Translation: X:-44.09, Y:2.46, Z:-2.39 [[ 9.94453547e-01 5.91439901e-02 -8.69720168e-02 -4.40923058e+01] [-5.86465462e-02 9.98244588e-01 8.26590216e-03 2.45820035e+00] [ 8.73082235e-02 -3.11944732e-03 9.96176462e-01 -2.38856767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315347069999994 meters 0.025452363047993296 Centerline is valid? [True, True] Translation: X:-44.15, Y:2.45, Z:-2.40 [[ 9.94219509e-01 6.06369652e-02 -8.86043268e-02 -4.41506855e+01] [-6.01258426e-02 9.98155219e-01 8.42867995e-03 2.45300708e+00] [ 8.89519608e-02 -3.05254823e-03 9.96031240e-01 -2.40056677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37534707 meters 0.025396449050738082 Centerline is valid? [True, True] Translation: X:-44.21, Y:2.45, Z:-2.41 [[ 9.94088591e-01 6.22741329e-02 -8.89370926e-02 -4.42093775e+01] [-6.17643001e-02 9.98054774e-01 8.47576130e-03 2.45319481e+00] [ 8.92919106e-02 -2.93252032e-03 9.96001182e-01 -2.41068107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43534707 meters 0.022343370524812476 Centerline is valid? [True, True] Translation: X:-44.27, Y:2.46, Z:-2.41 [[ 9.93592613e-01 7.03113296e-02 -8.84874936e-02 -4.42683901e+01] [-6.98365064e-02 9.97522624e-01 8.45436071e-03 2.45900904e+00] [ 8.88627142e-02 -2.22053294e-03 9.96041408e-01 -2.41317334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495347069999994 meters 0.020234901082489508 Centerline is valid? [True, True] Translation: X:-44.33, Y:2.47, Z:-2.41 [[ 9.93113620e-01 7.80430679e-02 -8.73762981e-02 -4.43277731e+01] [-7.76096209e-02 9.96948840e-01 8.35208734e-03 2.46541800e+00] [ 8.77615215e-02 -1.51333033e-03 9.96140364e-01 -2.41459255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555347069999996 meters 0.019200176558858913 Centerline is valid? [True, True] Translation: X:-44.39, Y:2.47, Z:-2.42 [[ 9.92658286e-01 8.45081691e-02 -8.65326281e-02 -4.43860911e+01] [-8.41067089e-02 9.96422341e-01 8.28134015e-03 2.47065024e+00] [ 8.69228847e-02 -9.42566365e-04 9.96214597e-01 -2.41993733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61534707 meters 0.01863821381452521 Centerline is valid? [True, True] Translation: X:-44.44, Y:2.48, Z:-2.43 [[ 9.92292552e-01 8.86235513e-02 -8.66103772e-02 -4.44431649e+01] [-8.82349140e-02 9.96065007e-01 8.31274818e-03 2.47534759e+00] [ 8.70062713e-02 -6.06618911e-04 9.96207579e-01 -2.42798773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675347069999994 meters 0.018270147647397997 Centerline is valid? [True, True] Translation: X:-44.50, Y:2.48, Z:-2.43 [[ 9.91687250e-01 9.61531677e-02 -8.55041873e-02 -4.45014180e+01] [-9.58010770e-02 9.95366549e-01 8.22111967e-03 2.48047781e+00] [ 8.58984945e-02 3.86136729e-05 9.96303893e-01 -2.42863249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735347069999996 meters 0.01820476069893885 Centerline is valid? [True, True] Translation: X:-44.56, Y:2.49, Z:-2.44 [[ 9.91503563e-01 9.80387877e-02 -8.54931661e-02 -4.45586651e+01] [-9.76911666e-02 9.95182580e-01 8.25041254e-03 2.48500452e+00] [ 8.58901700e-02 1.71613702e-04 9.96304597e-01 -2.44016386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79534707 meters 0.01816451443923846 Centerline is valid? [True, True] Translation: X:-44.62, Y:2.49, Z:-2.45 [[ 9.90996008e-01 1.03969663e-01 -8.43636242e-02 -4.46161031e+01] [-1.03649763e-01 9.94580261e-01 8.17500609e-03 2.49011043e+00] [ 8.47563480e-02 6.42871242e-04 9.96401499e-01 -2.44548102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85534706999999 meters 0.018141467046757155 Centerline is valid? [True, True] Translation: X:-44.67, Y:2.49, Z:-2.45 [[ 9.90764806e-01 1.06155798e-01 -8.43566527e-02 -4.46731434e+01] [-1.05840927e-01 9.94349191e-01 8.20879805e-03 2.49353826e+00] [ 8.47513809e-02 7.95398096e-04 9.96401812e-01 -2.45186526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915347069999996 meters 0.01853118807729632 Centerline is valid? [True, True] Translation: X:-44.73, Y:2.50, Z:-2.46 [[ 9.90585744e-01 1.08857124e-01 -8.30060917e-02 -4.47300387e+01] [-1.08558887e-01 9.94056927e-01 8.11135335e-03 2.49921333e+00] [ 8.33957590e-02 9.76057969e-04 9.96516028e-01 -2.46228104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97534707 meters 0.01902571227748226 Centerline is valid? [True, True] Translation: X:-44.79, Y:2.51, Z:-2.47 [[ 9.90289545e-01 1.12007227e-01 -8.23468203e-02 -4.47874417e+01] [-1.11722084e-01 9.93706666e-01 8.07702003e-03 2.50542591e+00] [ 8.27332689e-02 1.20136989e-03 9.96571002e-01 -2.46900906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03534706999999 meters 0.019273611280139685 Centerline is valid? [True, True] Translation: X:-44.85, Y:2.51, Z:-2.47 [[ 9.89897493e-01 1.16231368e-01 -8.11986603e-02 -4.48456409e+01] [-1.15967185e-01 9.93221004e-01 7.97808872e-03 2.50903508e+00] [ 8.15755190e-02 1.51889000e-03 9.96666006e-01 -2.46684472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095347069999995 meters 0.020563751498629483 Centerline is valid? [True, True] Translation: X:-44.90, Y:2.52, Z:-2.48 [[ 9.89907656e-01 1.16003264e-01 -8.14007067e-02 -4.49021064e+01] [-1.15735695e-01 9.93247718e-01 8.01377620e-03 2.51749796e+00] [ 8.17806903e-02 1.48806892e-03 9.96649238e-01 -2.48088309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15534707 meters 0.020094914783523442 Centerline is valid? [True, True] Translation: X:-44.96, Y:2.52, Z:-2.49 [[ 9.89839063e-01 1.16683057e-01 -8.12631117e-02 -4.49591102e+01] [-1.16415977e-01 9.93168056e-01 8.03321125e-03 2.51983324e+00] [ 8.16452664e-02 1.50873825e-03 9.96660310e-01 -2.48604258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21534706999999 meters 0.02082951162811338 Centerline is valid? [True, True] Translation: X:-45.02, Y:2.53, Z:-2.49 [[ 9.89240255e-01 1.22128087e-01 -8.05509011e-02 -4.50168628e+01] [-1.21881851e-01 9.92512494e-01 7.98525207e-03 2.52722873e+00] [ 8.09229993e-02 1.91836012e-03 9.96718510e-01 -2.48868483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275347069999995 meters 0.02351334058750115 Centerline is valid? [True, True] Translation: X:-45.07, Y:2.54, Z:-2.49 [[ 9.88538365e-01 1.29189460e-01 -7.81151945e-02 -4.50745438e+01] [-1.28977831e-01 9.91617038e-01 7.76974731e-03 2.53779318e+00] [ 7.84641272e-02 2.39443504e-03 9.96914062e-01 -2.49282744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33534707 meters 0.024168358466264302 Centerline is valid? [True, True] Translation: X:-45.13, Y:2.55, Z:-2.50 [[ 9.87893401e-01 1.33160098e-01 -7.95928161e-02 -4.51313138e+01] [-1.32951377e-01 9.91090758e-01 7.93984162e-03 2.54771018e+00] [ 7.99409745e-02 2.73825732e-03 9.96795838e-01 -2.50299520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39534706999999 meters 0.02557786387901713 Centerline is valid? [True, True] Translation: X:-45.19, Y:2.56, Z:-2.51 [[ 9.86959940e-01 1.40271392e-01 -7.89557654e-02 -4.51889888e+01] [-1.40087967e-01 9.90107665e-01 7.88503208e-03 2.55875686e+00] [ 7.92807529e-02 3.27854185e-03 9.96846936e-01 -2.51003671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455347069999995 meters 0.027166355758369457 Centerline is valid? [True, True] Translation: X:-45.25, Y:2.57, Z:-2.51 [[ 9.85797182e-01 1.48451111e-01 -7.85250540e-02 -4.52474673e+01] [-1.48295202e-01 9.88912016e-01 7.84584126e-03 2.56822853e+00] [ 7.88190933e-02 3.91048056e-03 9.96881266e-01 -2.51397596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51534707 meters 0.03006756637468061 Centerline is valid? [True, True] Translation: X:-45.31, Y:2.58, Z:-2.52 [[ 9.85143190e-01 1.52581192e-01 -7.88154540e-02 -4.53075033e+01] [-1.52437206e-01 9.88281776e-01 7.87582359e-03 2.58264329e+00] [ 7.90935795e-02 4.25559362e-03 9.96858112e-01 -2.52402633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57534706999999 meters 0.03537843957276364 Centerline is valid? [True, True] Translation: X:-45.37, Y:2.60, Z:-2.53 [[ 9.84148086e-01 1.59379155e-01 -7.77870841e-02 -4.53668308e+01] [-1.59260550e-01 9.87206040e-01 7.76606672e-03 2.60125685e+00] [ 7.80296284e-02 4.74545407e-03 9.96939746e-01 -2.52894748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635347069999995 meters 0.03375443929096569 Centerline is valid? [True, True] Translation: X:-45.43, Y:2.60, Z:-2.54 [[ 9.83218503e-01 1.64943018e-01 -7.79434175e-02 -4.54264364e+01] [-1.64841324e-01 9.86289403e-01 7.78142258e-03 2.60400505e+00] [ 7.81582580e-02 5.19745747e-03 9.96927416e-01 -2.53707370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69534707 meters 0.033817009616544484 Centerline is valid? [True, True] Translation: X:-45.49, Y:2.61, Z:-2.54 [[ 9.82784213e-01 1.67529684e-01 -7.79037605e-02 -4.54877706e+01] [-1.67436204e-01 9.85852238e-01 7.77698769e-03 2.61006517e+00] [ 7.81044730e-02 5.40080919e-03 9.96930551e-01 -2.53930270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75534706999999 meters 0.03326840099696399 Centerline is valid? [True, True] Translation: X:-45.55, Y:2.61, Z:-2.54 [[ 9.82141490e-01 1.71931645e-01 -7.64042026e-02 -4.55494477e+01] [-1.71855532e-01 9.85092696e-01 7.61946595e-03 2.60798285e+00] [ 7.65752492e-02 5.64709125e-03 9.97047813e-01 -2.54249428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815347069999994 meters 0.03329725710854227 Centerline is valid? [True, True] Translation: X:-45.61, Y:2.62, Z:-2.55 [[ 9.83223684e-01 1.64492848e-01 -7.88244294e-02 -4.56085549e+01] [-1.64388387e-01 9.86364397e-01 7.85713039e-03 2.61703261e+00] [ 7.90420526e-02 5.23250410e-03 9.96857550e-01 -2.55490298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87534707 meters 0.03167464898335099 Centerline is valid? [True, True] Translation: X:-45.67, Y:2.62, Z:-2.55 [[ 9.83963902e-01 1.61788792e-01 -7.50961194e-02 -4.56700707e+01] [-1.61686171e-01 9.86813844e-01 7.48459540e-03 2.61509951e+00] [ 7.53168139e-02 4.77743232e-03 9.97148210e-01 -2.55499571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93534707 meters 0.027292607391515827 Centerline is valid? [True, True] Translation: X:-45.73, Y:2.61, Z:-2.56 [[ 9.85818935e-01 1.50142995e-01 -7.49540473e-02 -4.57312939e+01] [-1.50007344e-01 9.88656674e-01 7.46849886e-03 2.60891117e+00] [ 7.52251619e-02 3.88106998e-03 9.97159021e-01 -2.56492647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995347069999994 meters 0.02423832197756963 Centerline is valid? [True, True] Translation: X:-45.79, Y:2.60, Z:-2.57 [[ 9.86461471e-01 1.46520143e-01 -7.36587707e-02 -4.57921991e+01] [-1.46379159e-01 9.89201341e-01 7.33819400e-03 2.60261894e+00] [ 7.39385480e-02 3.54326322e-03 9.97256505e-01 -2.56722771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055347069999996 meters 0.0231642373312193 Centerline is valid? [True, True] Translation: X:-45.85, Y:2.60, Z:-2.57 [[ 9.87885139e-01 1.35481802e-01 -7.56811355e-02 -4.58521754e+01] [-1.35300646e-01 9.90775903e-01 7.53961962e-03 2.60358302e+00] [ 7.60045265e-02 2.79142836e-03 9.97103565e-01 -2.57433608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11534707 meters 0.02270841525547555 Centerline is valid? [True, True] Translation: X:-45.91, Y:2.61, Z:-2.58 [[ 9.87874303e-01 1.35738807e-01 -7.53613863e-02 -4.59115401e+01] [-1.35559929e-01 9.90740703e-01 7.50769664e-03 2.60975081e+00] [ 7.56826786e-02 2.79932360e-03 9.97128024e-01 -2.57995352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175347069999994 meters 0.024006305966918114 Centerline is valid? [True, True] Translation: X:-45.97, Y:2.62, Z:-2.58 [[ 9.87095990e-01 1.41018081e-01 -7.58643972e-02 -4.59711156e+01] [-1.40852213e-01 9.90001772e-01 7.55948500e-03 2.61843626e+00] [ 7.61719117e-02 3.22373088e-03 9.97089488e-01 -2.58426064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235347069999996 meters 0.02584351924236385 Centerline is valid? [True, True] Translation: X:-46.03, Y:2.63, Z:-2.59 [[ 9.86394615e-01 1.45731529e-01 -7.60788088e-02 -4.60318272e+01] [-1.45578749e-01 9.89317629e-01 7.57998274e-03 2.62776518e+00] [ 7.63707492e-02 3.59860369e-03 9.97072996e-01 -2.59041486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29534707 meters 0.0274378205426744 Centerline is valid? [True, True] Translation: X:-46.09, Y:2.63, Z:-2.59 [[ 9.86636969e-01 1.44893747e-01 -7.45204276e-02 -4.60944558e+01] [-1.44745237e-01 9.89441146e-01 7.41853678e-03 2.63161907e+00] [ 7.48084769e-02 3.46707434e-03 9.97191893e-01 -2.59130018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35534706999999 meters 0.024740957885996315 Centerline is valid? [True, True] Translation: X:-46.16, Y:2.63, Z:-2.60 [[ 9.87435752e-01 1.38254008e-01 -7.65275475e-02 -4.61552880e+01] [-1.38078093e-01 9.90392102e-01 7.61074934e-03 2.63118136e+00] [ 7.68444952e-02 3.05165186e-03 9.97038420e-01 -2.59968639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415347069999996 meters 0.021241718274280872 Centerline is valid? [True, True] Translation: X:-46.21, Y:2.62, Z:-2.60 [[ 9.87862053e-01 1.35886542e-01 -7.52556463e-02 -4.62136227e+01] [-1.35709630e-01 9.90720391e-01 7.48347976e-03 2.62301983e+00] [ 7.55742076e-02 2.82027027e-03 9.97136192e-01 -2.60442517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47534707 meters 0.019017105729132986 Centerline is valid? [True, True] Translation: X:-46.27, Y:2.62, Z:-2.61 [[ 9.89491437e-01 1.22751017e-01 -7.64125835e-02 -4.62746648e+01] [-1.22528609e-01 9.92435806e-01 7.60993994e-03 2.61667930e+00] [ 7.67687117e-02 1.83275716e-03 9.97047244e-01 -2.61171573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53534706999999 meters 0.016602613631858575 Centerline is valid? [True, True] Translation: X:-46.33, Y:2.61, Z:-2.61 [[ 9.90900449e-01 1.11533018e-01 -7.53437880e-02 -4.63347601e+01] [-1.11284228e-01 9.93760277e-01 7.50548475e-03 2.60502164e+00] [ 7.57107730e-02 9.47387078e-04 9.97129370e-01 -2.61391907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595347069999995 meters 0.015804630029252 Centerline is valid? [True, True] Translation: X:-46.39, Y:2.59, Z:-2.62 [[ 9.92526337e-01 9.83253680e-02 -7.22744259e-02 -4.63948169e+01] [-9.80608772e-02 9.95154318e-01 7.20740828e-03 2.59483318e+00] [ 7.26328781e-02 -6.62489397e-05 9.97358742e-01 -2.61538029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65534707 meters 0.01621681484857319 Centerline is valid? [True, True] Translation: X:-46.45, Y:2.59, Z:-2.62 [[ 9.93367517e-01 9.01990535e-02 -7.13099357e-02 -4.64528999e+01] [-8.99188338e-02 9.95923527e-01 7.13660524e-03 2.59165101e+00] [ 7.16629577e-02 -6.77165574e-04 9.97428675e-01 -2.61808979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71534706999999 meters 0.017249776609235143 Centerline is valid? [True, True] Translation: X:-46.51, Y:2.59, Z:-2.62 [[ 9.93624259e-01 8.63312429e-02 -7.25103332e-02 -4.65121050e+01] [-8.60302885e-02 9.96266002e-01 7.26931626e-03 2.58994218e+00] [ 7.28671488e-02 -9.84884097e-04 9.97341170e-01 -2.61967296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775347069999995 meters 0.016867594947737475 Centerline is valid? [True, True] Translation: X:-46.57, Y:2.60, Z:-2.63 [[ 9.93119063e-01 9.03580847e-02 -7.44979423e-02 -4.65704888e+01] [-9.00493441e-02 9.95909067e-01 7.49974508e-03 2.59649930e+00] [ 7.48708388e-02 -7.39648969e-04 9.97192965e-01 -2.62616423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83534707 meters 0.016602367486425452 Centerline is valid? [True, True] Translation: X:-46.63, Y:2.61, Z:-2.63 [[ 9.92683173e-01 9.56243277e-02 -7.37299571e-02 -4.66281905e+01] [-9.53343980e-02 9.95417427e-01 7.44974743e-03 2.60612612e+00] [ 7.41044613e-02 -3.66237838e-04 9.97250417e-01 -2.62800396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89534706999999 meters 0.01752250310474086 Centerline is valid? [True, True] Translation: X:-46.69, Y:2.61, Z:-2.63 [[ 9.92445606e-01 9.86300142e-02 -7.29646388e-02 -4.66870255e+01] [-9.83522065e-02 9.95124159e-01 7.39940199e-03 2.61358090e+00] [ 7.33386780e-02 -1.67270775e-04 9.97307079e-01 -2.62554464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955347069999995 meters 0.01657843541281844 Centerline is valid? [True, True] Translation: X:-46.74, Y:2.62, Z:-2.63 [[ 9.92419346e-01 9.99070912e-02 -7.15710416e-02 -4.67443916e+01] [-9.96413181e-02 9.94996766e-01 7.28312487e-03 2.61654214e+00] [ 7.19405907e-02 -9.64811022e-05 9.97408914e-01 -2.63215325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01534707 meters 0.017014506949174356 Centerline is valid? [True, True] Translation: X:-46.80, Y:2.62, Z:-2.63 [[ 9.92806738e-01 9.61954998e-02 -7.12825881e-02 -4.68023480e+01] [-9.59211587e-02 9.95362387e-01 7.26979397e-03 2.61590675e+00] [ 7.16513285e-02 -3.79992000e-04 9.97429668e-01 -2.63119334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07534706999999 meters 0.01716259712134524 Centerline is valid? [True, True] Translation: X:-46.86, Y:2.62, Z:-2.63 [[ 9.93133764e-01 9.33029014e-02 -7.05683777e-02 -4.68614320e+01] [-9.30245846e-02 9.95637581e-01 7.22730544e-03 2.61706302e+00] [ 7.09348574e-02 -6.13087037e-04 9.97480762e-01 -2.63404409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135347069999995 meters 0.017480949566396384 Centerline is valid? [True, True] Translation: X:-46.92, Y:2.62, Z:-2.63 [[ 9.93358472e-01 9.14404556e-02 -6.98397447e-02 -4.69200877e+01] [-9.11615489e-02 9.95810254e-01 7.17709320e-03 2.61739906e+00] [ 7.02034106e-02 -7.62727024e-04 9.97532405e-01 -2.63239188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19534707 meters 0.018294240417728234 Centerline is valid? [True, True] Translation: X:-46.98, Y:2.62, Z:-2.63 [[ 9.93424045e-01 9.05581030e-02 -7.00563845e-02 -4.69781281e+01] [-9.02744952e-02 9.95890821e-01 7.21032448e-03 2.61931824e+00] [ 7.04214636e-02 -8.38604962e-04 9.97516974e-01 -2.63398016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25534706999999 meters 0.018740426522914466 Centerline is valid? [True, True] Translation: X:-47.04, Y:2.62, Z:-2.63 [[ 9.93548669e-01 9.01574306e-02 -6.87944809e-02 -4.70353387e+01] [-8.98809750e-02 9.95927137e-01 7.10970924e-03 2.62214841e+00] [ 6.91552835e-02 -8.80527132e-04 9.97605519e-01 -2.62820774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315347069999994 meters 0.02004266655887912 Centerline is valid? [True, True] Translation: X:-47.09, Y:2.62, Z:-2.63 [[ 9.93650490e-01 8.97275482e-02 -6.78798293e-02 -4.70935374e+01] [-8.94564333e-02 9.95965930e-01 7.02936678e-03 2.62397655e+00] [ 6.82367252e-02 -9.12446322e-04 9.97668741e-01 -2.62520298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37534707 meters 0.019466409060586227 Centerline is valid? [True, True] Translation: X:-47.15, Y:2.62, Z:-2.63 [[ 9.93857351e-01 8.77821093e-02 -6.73933796e-02 -4.71527586e+01] [-8.75082802e-02 9.96139125e-01 7.01027344e-03 2.62363759e+00] [ 6.77485588e-02 -1.06973304e-03 9.97701853e-01 -2.62578168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43534707 meters 0.019801616763678864 Centerline is valid? [True, True] Translation: X:-47.21, Y:2.63, Z:-2.63 [[ 9.93835674e-01 8.78624833e-02 -6.76079718e-02 -4.72108632e+01] [-8.75851776e-02 9.96132011e-01 7.06068061e-03 2.62658050e+00] [ 6.79668339e-02 -1.09570005e-03 9.97686979e-01 -2.62603160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495347069999994 meters 0.01985329440035473 Centerline is valid? [True, True] Translation: X:-47.27, Y:2.63, Z:-2.62 [[ 9.93824553e-01 8.66919841e-02 -6.92622374e-02 -4.72703819e+01] [-8.63960116e-02 9.96234398e-01 7.26310599e-03 2.63010473e+00] [ 6.96310765e-02 -1.23427200e-03 9.97572047e-01 -2.62267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555347069999996 meters 0.019304242919072772 Centerline is valid? [True, True] Translation: X:-47.33, Y:2.64, Z:-2.62 [[ 9.93885484e-01 8.61582588e-02 -6.90536023e-02 -4.73283006e+01] [-8.58612188e-02 9.96280628e-01 7.26370811e-03 2.63518493e+00] [ 6.94225947e-02 -1.29026759e-03 9.97586507e-01 -2.61917240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61534707 meters 0.0191490866987751 Centerline is valid? [True, True] Translation: X:-47.39, Y:2.64, Z:-2.62 [[ 9.93906004e-01 8.61417494e-02 -6.87783000e-02 -4.73862268e+01] [-8.58463184e-02 9.96282047e-01 7.24512253e-03 2.63962113e+00] [ 6.91466930e-02 -1.29660694e-03 9.97605660e-01 -2.61888301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675347069999994 meters 0.020052014782128102 Centerline is valid? [True, True] Translation: X:-47.44, Y:2.64, Z:-2.62 [[ 9.94018550e-01 8.41001424e-02 -6.96727213e-02 -4.74448386e+01] [-8.37897606e-02 9.96456196e-01 7.37062724e-03 2.64186398e+00] [ 7.00456856e-02 -1.48867956e-03 9.97542674e-01 -2.61799051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735347069999996 meters 0.01841547440027954 Centerline is valid? [True, True] Translation: X:-47.50, Y:2.65, Z:-2.62 [[ 9.93826272e-01 8.78463895e-02 -6.77669050e-02 -4.75018259e+01] [-8.75597666e-02 9.96133291e-01 7.19402250e-03 2.65058593e+00] [ 6.81368390e-02 -1.21595417e-03 9.97675244e-01 -2.61611883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79534707 meters 0.019200537948858343 Centerline is valid? [True, True] Translation: X:-47.56, Y:2.66, Z:-2.62 [[ 9.93447149e-01 8.94571412e-02 -7.11349561e-02 -4.75598902e+01] [-8.91443846e-02 9.95989980e-01 7.56564035e-03 2.65626653e+00] [ 7.15265041e-02 -1.17478195e-03 9.97438008e-01 -2.61573897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85534706999999 meters 0.01776429459532737 Centerline is valid? [True, True] Translation: X:-47.62, Y:2.67, Z:-2.62 [[ 9.93072950e-01 9.38574081e-02 -7.06887738e-02 -4.76165627e+01] [-9.35575340e-02 9.95585259e-01 7.54852017e-03 2.67269357e+00] [ 7.10851857e-02 -8.82763835e-04 9.97469858e-01 -2.61521501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915347069999996 meters 0.01739775103831152 Centerline is valid? [True, True] Translation: X:-47.67, Y:2.68, Z:-2.62 [[ 9.92688904e-01 9.70674162e-02 -7.17402040e-02 -4.76744019e+01] [-9.67661034e-02 9.95277581e-01 7.67193396e-03 2.68285471e+00] [ 7.21461115e-02 -6.73823710e-04 9.97393846e-01 -2.61839940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97534707 meters 0.017032705252533958 Centerline is valid? [True, True] Translation: X:-47.73, Y:2.69, Z:-2.62 [[ 9.92467192e-01 9.91615769e-02 -7.19434102e-02 -4.77315745e+01] [-9.88620471e-02 9.95071193e-01 7.72121150e-03 2.69298969e+00] [ 7.23544625e-02 -5.50576284e-04 9.97378829e-01 -2.61914970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03534706999999 meters 0.0182784200051805 Centerline is valid? [True, True] Translation: X:-47.79, Y:2.70, Z:-2.62 [[ 9.92570266e-01 9.88138207e-02 -7.09936340e-02 -4.77888019e+01] [-9.85191132e-02 9.95105759e-01 7.64941369e-03 2.70018772e+00] [ 7.14020418e-02 -5.98350722e-04 9.97447437e-01 -2.62088835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095347069999995 meters 0.017644626026150877 Centerline is valid? [True, True] Translation: X:-47.85, Y:2.71, Z:-2.62 [[ 9.92791046e-01 9.36269763e-02 -7.48326731e-02 -4.78472272e+01] [-9.32824251e-02 9.95606788e-01 8.09401446e-03 2.70550582e+00] [ 7.52617354e-02 -1.05509186e-03 9.97163255e-01 -2.62073693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15534707 meters 0.01781812293831248 Centerline is valid? [True, True] Translation: X:-47.90, Y:2.71, Z:-2.62 [[ 9.92881664e-01 9.31638603e-02 -7.42057766e-02 -4.79035263e+01] [-9.28218690e-02 9.95650175e-01 8.05169227e-03 2.71314275e+00] [ 7.46331212e-02 -1.10645874e-03 9.97210446e-01 -2.62280721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21534706999999 meters 0.018706925304572426 Centerline is valid? [True, True] Translation: X:-47.96, Y:2.72, Z:-2.62 [[ 9.93269443e-01 8.79681050e-02 -7.53486986e-02 -4.79619857e+01] [-8.75992918e-02 9.96122107e-01 8.19223683e-03 2.71821770e+00] [ 7.57771599e-02 -1.53660588e-03 9.97123594e-01 -2.62336533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275347069999995 meters 0.019696888753751033 Centerline is valid? [True, True] Translation: X:-48.02, Y:2.73, Z:-2.62 [[ 9.93669247e-01 8.31968823e-02 -7.54964055e-02 -4.80197248e+01] [-8.28108144e-02 9.96531258e-01 8.23528268e-03 2.72527610e+00] [ 7.59196778e-02 -1.93122831e-03 9.97112066e-01 -2.62335087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33534707 meters 0.021810486656481963 Centerline is valid? [True, True] Translation: X:-48.08, Y:2.73, Z:-2.63 [[ 9.93947861e-01 7.78811302e-02 -7.74737373e-02 -4.80792471e+01] [-7.74574138e-02 9.96959735e-01 8.46377386e-03 2.72995823e+00] [ 7.78973649e-02 -2.41163459e-03 9.96958467e-01 -2.62748107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39534706999999 meters 0.021802988584416982 Centerline is valid? [True, True] Translation: X:-48.14, Y:2.74, Z:-2.63 [[ 9.94008488e-01 7.63855120e-02 -7.81817032e-02 -4.81363359e+01] [-7.59489807e-02 9.97075080e-01 8.54623252e-03 2.74362455e+00] [ 7.86058363e-02 -2.55720700e-03 9.96902494e-01 -2.62705488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455347069999995 meters 0.020635751144202415 Centerline is valid? [True, True] Translation: X:-48.19, Y:2.76, Z:-2.63 [[ 9.93727994e-01 8.00817999e-02 -7.80485691e-02 -4.81940983e+01] [-7.96571317e-02 9.96785702e-01 8.54431425e-03 2.76051121e+00] [ 7.84819418e-02 -2.27359912e-03 9.96912943e-01 -2.62623393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51534707 meters 0.02028091384620886 Centerline is valid? [True, True] Translation: X:-48.25, Y:2.78, Z:-2.63 [[ 9.93413398e-01 8.20181763e-02 -8.00177391e-02 -4.82514742e+01] [-8.15756544e-02 9.96628397e-01 8.78924575e-03 2.77574520e+00] [ 8.04688290e-02 -2.20385506e-03 9.96754689e-01 -2.62917757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57534706999999 meters 0.019458300353965115 Centerline is valid? [True, True] Translation: X:-48.31, Y:2.79, Z:-2.63 [[ 9.93062603e-01 8.59900657e-02 -8.02020912e-02 -4.83087750e+01] [-8.55560376e-02 9.96294152e-01 8.83889871e-03 2.79065532e+00] [ 8.06649319e-02 -1.91580663e-03 9.96739434e-01 -2.63254015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635347069999995 meters 0.01879499478185027 Centerline is valid? [True, True] Translation: X:-48.37, Y:2.81, Z:-2.63 [[ 9.92551182e-01 9.04064199e-02 -8.16629009e-02 -4.83658808e+01] [-8.99687944e-02 9.95903644e-01 9.03041305e-03 2.80803626e+00] [ 8.21447878e-02 -1.61603441e-03 9.96619096e-01 -2.63416218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69534707 meters 0.01783535027119469 Centerline is valid? [True, True] Translation: X:-48.42, Y:2.82, Z:-2.64 [[ 9.92134431e-01 9.38922659e-02 -8.27859431e-02 -4.84231885e+01] [-9.34519949e-02 9.95581411e-01 9.18577180e-03 2.82296846e+00] [ 8.32826190e-02 -1.37700895e-03 9.96525017e-01 -2.63828900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75534706999999 meters 0.01760125210361277 Centerline is valid? [True, True] Translation: X:-48.48, Y:2.84, Z:-2.65 [[ 9.91724361e-01 9.61363716e-02 -8.50916499e-02 -4.84791442e+01] [-9.56765306e-02 9.95367380e-01 9.47522123e-03 2.83733890e+00] [ 8.56083661e-02 -1.25553388e-03 9.96328074e-01 -2.64645863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815347069999994 meters 0.019027895557582542 Centerline is valid? [True, True] Translation: X:-48.54, Y:2.85, Z:-2.65 [[ 9.91550487e-01 9.75395529e-02 -8.55199841e-02 -4.85357191e+01] [-9.70771181e-02 9.95230954e-01 9.55938700e-03 2.84850205e+00] [ 8.60445537e-02 -1.17658124e-03 9.96290595e-01 -2.64887259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87534707 meters 0.017508441967483166 Centerline is valid? [True, True] Translation: X:-48.59, Y:2.86, Z:-2.66 [[ 9.91213252e-01 1.00797960e-01 -8.56508103e-02 -4.85928216e+01] [-1.00343294e-01 9.94906482e-01 9.60809765e-03 2.86141610e+00] [ 8.61830230e-02 -9.29189299e-04 9.96278888e-01 -2.65764243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93534707 meters 0.016983675617287513 Centerline is valid? [True, True] Translation: X:-48.65, Y:2.87, Z:-2.66 [[ 9.91062813e-01 1.01982938e-01 -8.59882562e-02 -4.86486979e+01] [-1.01526916e-01 9.94785781e-01 9.67137990e-03 2.87346752e+00] [ 8.65262103e-02 -8.54822496e-04 9.96249208e-01 -2.65648203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995347069999994 meters 0.017464081181500665 Centerline is valid? [True, True] Translation: X:-48.71, Y:2.88, Z:-2.67 [[ 9.91038123e-01 1.00839456e-01 -8.76061822e-02 -4.87068128e+01] [-1.00359881e-01 9.94902216e-01 9.87294547e-03 2.88146478e+00] [ 8.81551672e-02 -9.92319367e-04 9.96106260e-01 -2.66501614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055347069999996 meters 0.017426743421725337 Centerline is valid? [True, True] Translation: X:-48.76, Y:2.89, Z:-2.67 [[ 9.91124467e-01 9.93368824e-02 -8.83429356e-02 -4.87640436e+01] [-9.88408752e-02 9.95053181e-01 9.98236142e-03 2.89296474e+00] [ 8.88975358e-02 -1.16186958e-03 9.96040099e-01 -2.66611231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11534707 meters 0.017665071714302927 Centerline is valid? [True, True] Translation: X:-48.82, Y:2.90, Z:-2.67 [[ 9.91178067e-01 9.85155267e-02 -8.86607566e-02 -4.88213424e+01] [-9.80111817e-02 9.95134721e-01 1.00347386e-02 2.90344865e+00] [ 8.92179748e-02 -1.25646725e-03 9.96011332e-01 -2.67024787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175347069999994 meters 0.017404325182165042 Centerline is valid? [True, True] Translation: X:-48.88, Y:2.92, Z:-2.67 [[ 9.91181348e-01 9.78870292e-02 -8.93177732e-02 -4.88775348e+01] [-9.73702262e-02 9.95196618e-01 1.01355897e-02 2.91579374e+00] [ 8.98808886e-02 -1.34931571e-03 9.95951608e-01 -2.67430316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235347069999996 meters 0.017514492488128752 Centerline is valid? [True, True] Translation: X:-48.94, Y:2.93, Z:-2.68 [[ 9.91063372e-01 9.80558275e-02 -9.04347722e-02 -4.89354951e+01] [-9.75251157e-02 9.95179975e-01 1.02795196e-02 2.92698754e+00] [ 9.10068411e-02 -1.36799373e-03 9.95849328e-01 -2.68141093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29534707 meters 0.01701266296537693 Centerline is valid? [True, True] Translation: X:-48.99, Y:2.94, Z:-2.69 [[ 9.90747770e-01 1.00854891e-01 -9.08138005e-02 -4.89930664e+01] [-1.00328509e-01 9.94900485e-01 1.03545226e-02 2.93937401e+00] [ 9.13949983e-02 -1.14750697e-03 9.95814058e-01 -2.68606688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35534706999999 meters 0.01733109589877198 Centerline is valid? [True, True] Translation: X:-49.05, Y:2.95, Z:-2.69 [[ 9.90653059e-01 1.00829135e-01 -9.18694876e-02 -4.90502408e+01] [-1.00287165e-01 9.94903037e-01 1.05086684e-02 2.95139362e+00] [ 9.24608121e-02 -1.19711413e-03 9.95715605e-01 -2.68927228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415347069999996 meters 0.017165902669291938 Centerline is valid? [True, True] Translation: X:-49.11, Y:2.96, Z:-2.70 [[ 9.90580398e-01 1.01733462e-01 -9.16557593e-02 -4.91070663e+01] [-1.01195248e-01 9.94811041e-01 1.05126230e-02 2.96338201e+00] [ 9.22496468e-02 -1.13847105e-03 9.95735259e-01 -2.69803937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47534707 meters 0.017329719591118502 Centerline is valid? [True, True] Translation: X:-49.16, Y:2.97, Z:-2.70 [[ 9.90542206e-01 1.01489403e-01 -9.23365581e-02 -4.91647948e+01] [-1.00940043e-01 9.94835906e-01 1.06125794e-02 2.97368461e+00] [ 9.29367878e-02 -1.19175166e-03 9.95671298e-01 -2.70446183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53534706999999 meters 0.017289539671339102 Centerline is valid? [True, True] Translation: X:-49.22, Y:2.98, Z:-2.71 [[ 9.90452745e-01 1.01963833e-01 -9.27725040e-02 -4.92218109e+01] [-1.01408214e-01 9.94787400e-01 1.06959690e-02 2.98191985e+00] [ 9.33795200e-02 -1.18595783e-03 9.95629880e-01 -2.70827720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595347069999995 meters 0.017435798113057323 Centerline is valid? [True, True] Translation: X:-49.28, Y:2.99, Z:-2.71 [[ 9.90511438e-01 1.00361249e-01 -9.38866958e-02 -4.92784681e+01] [-9.97821794e-02 9.94950103e-01 1.08539906e-02 2.99232129e+00] [ 9.45018977e-02 -1.38278271e-03 9.95523721e-01 -2.71014084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65534707 meters 0.019227859183141748 Centerline is valid? [True, True] Translation: X:-49.34, Y:3.00, Z:-2.73 [[ 9.90690713e-01 9.82995352e-02 -9.41759695e-02 -4.93357181e+01] [-9.77058052e-02 9.95155582e-01 1.09061509e-02 2.99637578e+00] [ 9.47918113e-02 -1.60308350e-03 9.95495828e-01 -2.73030910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71534706999999 meters 0.018425691650215126 Centerline is valid? [True, True] Translation: X:-49.39, Y:3.01, Z:-2.73 [[ 9.90390445e-01 1.01289749e-01 -9.41655585e-02 -4.93927648e+01] [-1.00707085e-01 9.94856061e-01 1.09316658e-02 3.00806332e+00] [ 9.47884423e-02 -1.34347849e-03 9.95496533e-01 -2.72900737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775347069999995 meters 0.01722144278000893 Centerline is valid? [True, True] Translation: X:-49.45, Y:3.02, Z:-2.73 [[ 9.90062385e-01 1.04140699e-01 -9.45049631e-02 -4.94491296e+01] [-1.03565745e-01 9.94561983e-01 1.09817683e-02 3.02188449e+00] [ 9.51346925e-02 -1.08515890e-03 9.95463818e-01 -2.72972339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83534707 meters 0.016965982876476896 Centerline is valid? [True, True] Translation: X:-49.51, Y:3.03, Z:-2.73 [[ 9.90019032e-01 1.05003070e-01 -9.40035728e-02 -4.95061240e+01] [-1.04436996e-01 9.94471386e-01 1.09350634e-02 3.03297542e+00] [ 9.46320786e-02 -1.00847020e-03 9.95511804e-01 -2.73238900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89534706999999 meters 0.017285261367889874 Centerline is valid? [True, True] Translation: X:-49.56, Y:3.04, Z:-2.74 [[ 9.89766957e-01 1.06864987e-01 -9.45581568e-02 -4.95625619e+01] [-1.06298731e-01 9.94273173e-01 1.10198654e-02 3.04140582e+00] [ 9.51942763e-02 -8.55686616e-04 9.95458345e-01 -2.74339183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955347069999995 meters 0.016981571595981647 Centerline is valid? [True, True] Translation: X:-49.62, Y:3.05, Z:-2.75 [[ 9.89740631e-01 1.07147509e-01 -9.45139921e-02 -4.96182724e+01] [-1.06580017e-01 9.94242763e-01 1.10466431e-02 3.05035122e+00] [ 9.51534729e-02 -8.60008638e-04 9.95462243e-01 -2.74735698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01534707 meters 0.017273011160335368 Centerline is valid? [True, True] Translation: X:-49.68, Y:3.06, Z:-2.76 [[ 9.89906793e-01 1.04958219e-01 -9.52276889e-02 -4.96761613e+01] [-1.04369871e-01 9.94476023e-01 1.11520951e-02 3.05773076e+00] [ 9.58721574e-02 -1.10063314e-03 9.95393047e-01 -2.75655080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07534706999999 meters 0.017736148401380037 Centerline is valid? [True, True] Translation: X:-49.73, Y:3.07, Z:-2.76 [[ 9.89870823e-01 1.04766190e-01 -9.58112651e-02 -4.97347899e+01] [-1.04166478e-01 9.94496205e-01 1.12535869e-02 3.06577524e+00] [ 9.64629350e-02 -1.15927523e-03 9.95335902e-01 -2.75776851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135347069999995 meters 0.018001370689169394 Centerline is valid? [True, True] Translation: X:-49.79, Y:3.07, Z:-2.77 [[ 9.90061859e-01 1.02830378e-01 -9.59345004e-02 -4.97922698e+01] [-1.02216940e-01 9.94697946e-01 1.13001225e-02 3.07097870e+00] [ 9.65878464e-02 -1.38168918e-03 9.95323505e-01 -2.77155076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19534707 meters 0.017644856959041284 Centerline is valid? [True, True] Translation: X:-49.85, Y:3.08, Z:-2.78 [[ 9.90023858e-01 1.03782882e-01 -9.52988632e-02 -4.98503093e+01] [-1.03178777e-01 9.94599110e-01 1.12583758e-02 3.07961608e+00] [ 9.59525912e-02 -1.31324047e-03 9.95385039e-01 -2.77831368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25534706999999 meters 0.019058440208082145 Centerline is valid? [True, True] Translation: X:-49.91, Y:3.09, Z:-2.79 [[ 9.90190864e-01 1.00805518e-01 -9.67486411e-02 -4.99083188e+01] [-1.00165464e-01 9.94904767e-01 1.14623105e-02 3.08532505e+00] [ 9.74111484e-02 -1.65900267e-03 9.95242843e-01 -2.78581498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315347069999994 meters 0.018570404740732745 Centerline is valid? [True, True] Translation: X:-49.97, Y:3.09, Z:-2.79 [[ 9.90280180e-01 9.96880095e-02 -9.69920959e-02 -4.99651719e+01] [-9.90368850e-02 9.95017118e-01 1.15165224e-02 3.09188701e+00] [ 9.76568549e-02 -1.79878878e-03 9.95218520e-01 -2.79026656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37534707 meters 0.019326221162251155 Centerline is valid? [True, True] Translation: X:-50.02, Y:3.10, Z:-2.80 [[ 9.90382905e-01 9.89307631e-02 -9.67181731e-02 -5.00220678e+01] [-9.82777179e-02 9.95092527e-01 1.15044690e-02 3.09627149e+00] [ 9.73816771e-02 -1.88858808e-03 9.95245318e-01 -2.79778783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43534706999999 meters 0.018995304493377496 Centerline is valid? [True, True] Translation: X:-50.08, Y:3.10, Z:-2.80 [[ 9.90422855e-01 9.83636950e-02 -9.68873191e-02 -5.00792972e+01] [-9.77027237e-02 9.95148568e-01 1.15544500e-02 3.10482855e+00] [ 9.75538153e-02 -1.97763634e-03 9.95228286e-01 -2.80195785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495347069999994 meters 0.01906033862694272 Centerline is valid? [True, True] Translation: X:-50.14, Y:3.11, Z:-2.82 [[ 9.90215146e-01 1.00853159e-01 -9.64500157e-02 -5.01371325e+01] [-1.00208110e-01 9.94899795e-01 1.15209808e-02 3.11214419e+00] [ 9.71200281e-02 -1.74317590e-03 9.95271150e-01 -2.81533109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555347069999996 meters 0.019714002935627008 Centerline is valid? [True, True] Translation: X:-50.20, Y:3.12, Z:-2.82 [[ 9.90307241e-01 9.88600198e-02 -9.75615983e-02 -5.01953147e+01] [-9.81870426e-02 9.95099351e-01 1.16869998e-02 3.11951652e+00] [ 9.82388602e-02 -1.99443567e-03 9.95160866e-01 -2.82216175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61534707 meters 0.018551201044021755 Centerline is valid? [True, True] Translation: X:-50.25, Y:3.13, Z:-2.83 [[ 9.90033985e-01 1.01538241e-01 -9.75842918e-02 -5.02525826e+01] [-1.00874826e-01 9.94830079e-01 1.17210545e-02 3.12971313e+00] [ 9.82699240e-02 -1.76044382e-03 9.95158240e-01 -2.82738219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675347069999994 meters 0.01893933872643273 Centerline is valid? [True, True] Translation: X:-50.31, Y:3.14, Z:-2.84 [[ 9.90316223e-01 1.00052485e-01 -9.62459332e-02 -5.03095969e+01] [-9.93978249e-02 9.94980335e-01 1.15846615e-02 3.13765719e+00] [ 9.69218850e-02 -1.90584183e-03 9.95290167e-01 -2.83634784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735347069999996 meters 0.01831631250787621 Centerline is valid? [True, True] Translation: X:-50.37, Y:3.15, Z:-2.84 [[ 9.90133866e-01 1.00610537e-01 -9.75317715e-02 -5.03670282e+01] [-9.99390709e-02 9.94924082e-01 1.17580923e-02 3.14664558e+00] [ 9.82196962e-02 -1.89485076e-03 9.95162952e-01 -2.84262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79534707 meters 0.018149908192259034 Centerline is valid? [True, True] Translation: X:-50.42, Y:3.16, Z:-2.85 [[ 9.90235662e-01 1.00388749e-01 -9.67234879e-02 -5.04238435e+01] [-9.97246409e-02 9.94946421e-01 1.16882770e-02 3.15627001e+00] [ 9.74080596e-02 -1.92843364e-03 9.95242659e-01 -2.84656162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85534706999999 meters 0.02067742807089759 Centerline is valid? [True, True] Translation: X:-50.48, Y:3.16, Z:-2.86 [[ 9.90593494e-01 9.65538441e-02 -9.69633175e-02 -5.04821402e+01] [-9.58658070e-02 9.95325024e-01 1.17406509e-02 3.15832128e+00] [ 9.76436214e-02 -2.33474569e-03 9.95218706e-01 -2.86077137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915347069999996 meters 0.02037408715535844 Centerline is valid? [True, True] Translation: X:-50.54, Y:3.17, Z:-2.86 [[ 9.90806903e-01 9.47653157e-02 -9.65464432e-02 -5.05391214e+01] [-9.40721468e-02 9.95496435e-01 1.17166568e-02 3.16715407e+00] [ 9.72219726e-02 -2.52661329e-03 9.95259516e-01 -2.86471666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97534707 meters 0.020131686075784395 Centerline is valid? [True, True] Translation: X:-50.60, Y:3.18, Z:-2.87 [[ 9.90836448e-01 9.51124350e-02 -9.58997330e-02 -5.05968809e+01] [-9.44284369e-02 9.95463413e-01 1.16560512e-02 3.17514021e+00] [ 9.65733109e-02 -2.49357843e-03 9.95322751e-01 -2.86667486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03534706999999 meters 0.020485226568075263 Centerline is valid? [True, True] Translation: X:-50.65, Y:3.18, Z:-2.87 [[ 9.90840512e-01 9.39547587e-02 -9.69927002e-02 -5.06537690e+01] [-9.32469536e-02 9.95572908e-01 1.18148395e-02 3.18397264e+00] [ 9.76733650e-02 -2.66234782e-03 9.95214965e-01 -2.87369723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095347069999995 meters 0.021418861277625705 Centerline is valid? [True, True] Translation: X:-50.71, Y:3.19, Z:-2.89 [[ 9.90723178e-01 9.49582980e-02 -9.72137146e-02 -5.07098891e+01] [-9.42500546e-02 9.95477883e-01 1.18622331e-02 3.19405789e+00] [ 9.79005202e-02 -2.58979134e-03 9.95192836e-01 -2.88684246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15534707 meters 0.02154507188919161 Centerline is valid? [True, True] Translation: X:-50.77, Y:3.21, Z:-2.89 [[ 9.90659846e-01 9.65233170e-02 -9.63136455e-02 -5.07668459e+01] [-9.58320896e-02 9.95327714e-01 1.17878340e-02 3.20725254e+00] [ 9.70014414e-02 -2.44779586e-03 9.95281231e-01 -2.89274825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21534706999999 meters 0.022336333727866108 Centerline is valid? [True, True] Translation: X:-50.82, Y:3.22, Z:-2.90 [[ 9.90871939e-01 9.32189410e-02 -9.73808488e-02 -5.08246767e+01] [-9.24939768e-02 9.95641623e-01 1.19425078e-02 3.21600585e+00] [ 9.80696942e-02 -2.82635388e-03 9.95175536e-01 -2.90376781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275347069999995 meters 0.022777515956612128 Centerline is valid? [True, True] Translation: X:-50.88, Y:3.23, Z:-2.91 [[ 9.91133277e-01 9.04390682e-02 -9.73427085e-02 -5.08818093e+01] [-8.97003666e-02 9.95897135e-01 1.19473834e-02 3.22534077e+00] [ 9.80238348e-02 -3.10977258e-03 9.95179209e-01 -2.90941036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33534707 meters 0.022970192444408864 Centerline is valid? [True, True] Translation: X:-50.94, Y:3.24, Z:-2.92 [[ 9.91214058e-01 9.00599028e-02 -9.68705613e-02 -5.09386234e+01] [-8.93246797e-02 9.95931365e-01 1.19087132e-02 3.23592212e+00] [ 9.75489279e-02 -3.15115206e-03 9.95225742e-01 -2.91509255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39534706999999 meters 0.022842202716105684 Centerline is valid? [True, True] Translation: X:-50.99, Y:3.25, Z:-2.92 [[ 9.91249203e-01 8.99359824e-02 -9.66257568e-02 -5.09946585e+01] [-8.92010135e-02 9.95942456e-01 1.19081059e-02 3.24828122e+00] [ 9.73046608e-02 -3.18478507e-03 9.95249547e-01 -2.91903064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455347069999995 meters 0.023532691343979954 Centerline is valid? [True, True] Translation: X:-51.05, Y:3.26, Z:-2.93 [[ 9.91044585e-01 9.14997301e-02 -9.72544608e-02 -5.10520660e+01] [-9.07605226e-02 9.95800361e-01 1.20070563e-02 3.25538504e+00] [ 9.79446695e-02 -3.07266246e-03 9.95187118e-01 -2.92707795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51534707 meters 0.021622178268170474 Centerline is valid? [True, True] Translation: X:-51.11, Y:3.27, Z:-2.93 [[ 9.90764169e-01 9.41127619e-02 -9.76173661e-02 -5.11075143e+01] [-9.33779006e-02 9.95557457e-01 1.20796513e-02 3.27468602e+00] [ 9.83205461e-02 -2.85278097e-03 9.95150708e-01 -2.92864159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57534706999999 meters 0.02229094256862386 Centerline is valid? [True, True] Translation: X:-51.16, Y:3.29, Z:-2.94 [[ 9.90655575e-01 9.53549708e-02 -9.75139023e-02 -5.11644981e+01] [-9.46253735e-02 9.95439535e-01 1.20901123e-02 3.28592516e+00] [ 9.82220459e-02 -2.74984777e-03 9.95160725e-01 -2.93868803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635347069999995 meters 0.021609821679398747 Centerline is valid? [True, True] Translation: X:-51.22, Y:3.30, Z:-2.94 [[ 9.90471289e-01 9.69607618e-02 -9.78020264e-02 -5.12211853e+01] [-9.62320008e-02 9.95284743e-01 1.21524370e-02 3.29926068e+00] [ 9.85191743e-02 -2.62495526e-03 9.95131691e-01 -2.94394502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69534707 meters 0.0207036352395737 Centerline is valid? [True, True] Translation: X:-51.28, Y:3.32, Z:-2.95 [[ 9.90190475e-01 1.00228709e-01 -9.73500346e-02 -5.12774096e+01] [-9.95212792e-02 9.94961764e-01 1.21079660e-02 3.31549395e+00] [ 9.80731280e-02 -2.30079261e-03 9.95176551e-01 -2.94935899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75534706999999 meters 0.023107848853230972 Centerline is valid? [True, True] Translation: X:-51.34, Y:3.32, Z:-2.96 [[ 9.90295392e-01 9.90074650e-02 -9.75323494e-02 -5.13350804e+01] [-9.82895519e-02 9.95083685e-01 1.21500487e-02 3.32408623e+00] [ 9.82557952e-02 -2.44572629e-03 9.95158187e-01 -2.95923029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815347069999994 meters 0.02236157502404388 Centerline is valid? [True, True] Translation: X:-51.39, Y:3.34, Z:-2.96 [[ 9.89827580e-01 1.03296991e-01 -9.78319698e-02 -5.13922661e+01] [-1.02592208e-01 9.94648425e-01 1.22208802e-02 3.33867222e+00] [ 9.85707948e-02 -2.05976651e-03 9.95127909e-01 -2.96387093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87534707 meters 0.02122085160663803 Centerline is valid? [True, True] Translation: X:-51.45, Y:3.35, Z:-2.97 [[ 9.89592510e-01 1.06392746e-01 -9.68878142e-02 -5.14494186e+01] [-1.05713930e-01 9.94322629e-01 1.21274446e-02 3.34750316e+00] [ 9.76280182e-02 -1.75883673e-03 9.95221421e-01 -2.97490894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93534706999999 meters 0.0225519756462302 Centerline is valid? [True, True] Translation: X:-51.51, Y:3.36, Z:-2.98 [[ 9.89319082e-01 1.09361783e-01 -9.63729976e-02 -5.15060212e+01] [-1.08703154e-01 9.94000927e-01 1.20740131e-02 3.36048774e+00] [ 9.71152846e-02 -1.46900272e-03 9.95272055e-01 -2.97674850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995347069999994 meters 0.021041135521794752 Centerline is valid? [True, True] Translation: X:-51.56, Y:3.37, Z:-2.99 [[ 9.89200992e-01 1.10977288e-01 -9.57363037e-02 -5.15623146e+01] [-1.10333872e-01 9.93822076e-01 1.20048877e-02 3.37054062e+00] [ 9.64771220e-02 -1.31228973e-03 9.95334337e-01 -2.98547553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055347069999996 meters 0.020637343932577188 Centerline is valid? [True, True] Translation: X:-51.62, Y:3.38, Z:-2.99 [[ 9.88818809e-01 1.14137717e-01 -9.59684513e-02 -5.16194973e+01] [-1.13504937e-01 9.93464416e-01 1.20450339e-02 3.38098621e+00] [ 9.67160341e-02 -1.01746305e-03 9.95311496e-01 -2.98842950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11534707 meters 0.02049762419422504 Centerline is valid? [True, True] Translation: X:-51.68, Y:3.39, Z:-3.00 [[ 9.88584441e-01 1.15357603e-01 -9.69196893e-02 -5.16770970e+01] [-1.14716227e-01 9.93323596e-01 1.21827956e-02 3.38933579e+00] [ 9.76779925e-02 -9.25461108e-04 9.95217641e-01 -2.99787533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175347069999994 meters 0.020427391898727117 Centerline is valid? [True, True] Translation: X:-51.73, Y:3.40, Z:-3.00 [[ 9.88167668e-01 1.20024998e-01 -9.54916780e-02 -5.17346720e+01] [-1.19421072e-01 9.92770749e-01 1.20352314e-02 3.39875193e+00] [ 9.62458734e-02 -4.89107990e-04 9.95357470e-01 -3.00235190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235347069999996 meters 0.020931179680511378 Centerline is valid? [True, True] Translation: X:-51.79, Y:3.41, Z:-3.00 [[ 9.87602156e-01 1.25900768e-01 -9.37602149e-02 -5.17944182e+01] [-1.25343117e-01 9.92042838e-01 1.18368158e-02 3.40677393e+00] [ 9.45044139e-02 6.21328721e-05 9.95524441e-01 -3.00416310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29534707 meters 0.021441655460818006 Centerline is valid? [True, True] Translation: X:-51.86, Y:3.41, Z:-3.01 [[ 9.87680841e-01 1.26240259e-01 -9.24659626e-02 -5.18558044e+01] [-1.25700107e-01 9.91999691e-01 1.16660247e-02 3.41205184e+00] [ 9.31989283e-02 1.00672310e-04 9.95647503e-01 -3.01495537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35534706999999 meters 0.022716046678859174 Centerline is valid? [True, True] Translation: X:-51.92, Y:3.42, Z:-3.02 [[ 9.87350300e-01 1.28793341e-01 -9.24751927e-02 -5.19165956e+01] [-1.28265073e-01 9.91671393e-01 1.16584069e-02 3.41656274e+00] [ 9.32065284e-02 3.50405780e-04 9.95646735e-01 -3.01541982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415347069999996 meters 0.025624800603715643 Centerline is valid? [True, True] Translation: X:-51.98, Y:3.42, Z:-3.01 [[ 9.87268880e-01 1.30996739e-01 -9.02220212e-02 -5.19787229e+01] [-1.30503754e-01 9.91382646e-01 1.13675069e-02 3.41852684e+00] [ 9.09336524e-02 5.51526638e-04 9.95856800e-01 -3.01464769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47534707 meters 0.02430214674661373 Centerline is valid? [True, True] Translation: X:-52.04, Y:3.42, Z:-3.02 [[ 9.87315976e-01 1.32179838e-01 -8.79525679e-02 -5.20406050e+01] [-1.31716724e-01 9.91225538e-01 1.10742107e-02 3.41948724e+00] [ 8.86446188e-02 6.51078951e-04 9.96063104e-01 -3.02205162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53534706999999 meters 0.02501439827311953 Centerline is valid? [True, True] Translation: X:-52.10, Y:3.42, Z:-3.03 [[ 9.87323735e-01 1.33009570e-01 -8.66042505e-02 -5.21036988e+01] [-1.32564538e-01 9.91114489e-01 1.08955012e-02 3.41800789e+00] [ 8.72839334e-02 7.23265532e-04 9.96183212e-01 -3.02711628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595347069999995 meters 0.025360901049665468 Centerline is valid? [True, True] Translation: X:-52.16, Y:3.42, Z:-3.03 [[ 9.87084518e-01 1.35634137e-01 -8.52498426e-02 -5.21648882e+01] [-1.35213568e-01 9.90758537e-01 1.07150961e-02 3.41853811e+00] [ 8.59153421e-02 9.50229893e-04 9.96301988e-01 -3.03160442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65534707 meters 0.02603467427015353 Centerline is valid? [True, True] Translation: X:-52.23, Y:3.42, Z:-3.04 [[ 9.86919396e-01 1.37935360e-01 -8.34502321e-02 -5.22278513e+01] [-1.37541676e-01 9.90440578e-01 1.04760647e-02 3.41778356e+00] [ 8.40975159e-02 1.13885334e-03 9.96456879e-01 -3.03714065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71534706999999 meters 0.026402646535215343 Centerline is valid? [True, True] Translation: X:-52.29, Y:3.42, Z:-3.04 [[ 9.86732809e-01 1.41340016e-01 -7.98834346e-02 -5.22897132e+01] [-1.40991104e-01 9.89960154e-01 1.00200437e-02 3.42000373e+00] [ 8.04976504e-02 1.37574774e-03 9.96753849e-01 -3.04274211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775347069999995 meters 0.02723738370112758 Centerline is valid? [True, True] Translation: X:-52.35, Y:3.42, Z:-3.05 [[ 9.86490575e-01 1.43329160e-01 -7.93290468e-02 -5.23527911e+01] [-1.42992208e-01 9.89673882e-01 9.94164610e-03 3.41925648e+00] [ 7.99348134e-02 1.53609536e-03 9.96798910e-01 -3.04811076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83534707 meters 0.028582384148266155 Centerline is valid? [True, True] Translation: X:-52.41, Y:3.42, Z:-3.05 [[ 9.86368743e-01 1.45885339e-01 -7.61194467e-02 -5.24148128e+01] [-1.45583441e-01 9.89300076e-01 9.53003678e-03 3.41993806e+00] [ 7.66952670e-02 1.68160059e-03 9.97053162e-01 -3.05323631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89534706999999 meters 0.028254517732119705 Centerline is valid? [True, True] Translation: X:-52.48, Y:3.42, Z:-3.06 [[ 9.86840275e-01 1.43571631e-01 -7.43872247e-02 -5.24763296e+01] [-1.43277402e-01 9.89638827e-01 9.30469125e-03 3.41800866e+00] [ 7.49523755e-02 1.47576422e-03 9.97186023e-01 -3.05513118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955347069999995 meters 0.026606654748315556 Centerline is valid? [True, True] Translation: X:-52.54, Y:3.42, Z:-3.06 [[ 9.87148615e-01 1.41772929e-01 -7.37431208e-02 -5.25390727e+01] [-1.41479741e-01 9.89898298e-01 9.21103895e-03 3.41629112e+00] [ 7.43040657e-02 1.34049325e-03 9.97234731e-01 -3.06235828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01534707 meters 0.02007896673432736 Centerline is valid? [True, True] Translation: X:-52.60, Y:3.41, Z:-3.08 [[ 9.87438053e-01 1.40299201e-01 -7.26789169e-02 -5.26014161e+01] [-1.40011014e-01 9.90108402e-01 9.07023548e-03 3.41036217e+00] [ 7.32325530e-02 1.21955316e-03 9.97314146e-01 -3.07797560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07534706999999 meters 0.019459299126474563 Centerline is valid? [True, True] Translation: X:-52.66, Y:3.41, Z:-3.08 [[ 9.87689969e-01 1.40255412e-01 -6.92599712e-02 -5.26638783e+01] [-1.39994121e-01 9.90114670e-01 8.63632414e-03 3.41301766e+00] [ 6.97866047e-02 1.16597807e-03 9.97561261e-01 -3.08415765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135347069999995 meters 0.019516990173309545 Centerline is valid? [True, True] Translation: X:-52.73, Y:3.42, Z:-3.08 [[ 9.87219158e-01 1.44431477e-01 -6.73638076e-02 -5.27258975e+01] [-1.44194493e-01 9.89513774e-01 8.39278595e-03 3.41670935e+00] [ 6.78695980e-02 1.42797103e-03 9.97693179e-01 -3.08482559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19534707 meters 0.01982285476838883 Centerline is valid? [True, True] Translation: X:-52.79, Y:3.42, Z:-3.09 [[ 9.87164184e-01 1.45002762e-01 -6.69408195e-02 -5.27878419e+01] [-1.44770549e-01 9.89430165e-01 8.33283409e-03 3.42486095e+00] [ 6.74415501e-02 1.46518379e-03 9.97722151e-01 -3.08522959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25534706999999 meters 0.020617037926786555 Centerline is valid? [True, True] Translation: X:-52.85, Y:3.44, Z:-3.09 [[ 9.86920800e-01 1.45714534e-01 -6.89536764e-02 -5.28493913e+01] [-1.45470421e-01 9.89325436e-01 8.57547386e-03 3.43556915e+00] [ 6.94671972e-02 1.56740680e-03 9.97583005e-01 -3.08521491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315347069999994 meters 0.020923095449882096 Centerline is valid? [True, True] Translation: X:-52.91, Y:3.44, Z:-3.09 [[ 9.86825514e-01 1.46039852e-01 -6.96259054e-02 -5.29104394e+01] [-1.45792314e-01 9.89277392e-01 8.65122027e-03 3.44439711e+00] [ 7.01427570e-02 1.61367695e-03 9.97535658e-01 -3.08839031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37534707 meters 0.021602869700678325 Centerline is valid? [True, True] Translation: X:-52.97, Y:3.45, Z:-3.09 [[ 9.86894524e-01 1.45684633e-01 -6.93915444e-02 -5.29725916e+01] [-1.45438404e-01 9.89329803e-01 8.61465605e-03 3.45413483e+00] [ 6.99061460e-02 1.59043862e-03 9.97552305e-01 -3.08560276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43534706999999 meters 0.022846212933727537 Centerline is valid? [True, True] Translation: X:-53.03, Y:3.47, Z:-3.08 [[ 9.86178499e-01 1.50297643e-01 -6.97322539e-02 -5.30329586e+01] [-1.50060999e-01 9.88638902e-01 8.64974440e-03 3.46979532e+00] [ 7.02400551e-02 1.93389974e-03 9.97528243e-01 -3.08186739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495347069999994 meters 0.021616929617107983 Centerline is valid? [True, True] Translation: X:-53.09, Y:3.48, Z:-3.08 [[ 9.86149038e-01 1.50932745e-01 -6.87705012e-02 -5.30943445e+01] [-1.50704378e-01 9.88542100e-01 8.52684525e-03 3.47816417e+00] [ 6.92695158e-02 1.95527536e-03 9.97596066e-01 -3.08009921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555347069999996 meters 0.02054087624073355 Centerline is valid? [True, True] Translation: X:-53.16, Y:3.48, Z:-3.08 [[ 9.87352006e-01 1.42861122e-01 -6.87511205e-02 -5.31558167e+01] [-1.42613806e-01 9.89741761e-01 8.51755016e-03 3.48122671e+00] [ 6.92626819e-02 1.39503875e-03 9.97597481e-01 -3.07616704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61534707 meters 0.01898928651699782 Centerline is valid? [True, True] Translation: X:-53.22, Y:3.47, Z:-3.07 [[ 9.89757758e-01 1.24459394e-01 -6.99245260e-02 -5.32180841e+01] [-1.24157719e-01 9.92224696e-01 8.66103879e-03 3.47305547e+00] [ 7.04587892e-02 1.09339327e-04 9.97514685e-01 -3.07181355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675347069999994 meters 0.019258428278815312 Centerline is valid? [True, True] Translation: X:-53.28, Y:3.48, Z:-3.07 [[ 9.90759857e-01 1.16234415e-01 -6.98889590e-02 -5.32793249e+01] [-1.15912704e-01 9.93221695e-01 8.65499577e-03 3.47518859e+00] [ 7.04212387e-02 -4.74004176e-04 9.97517230e-01 -3.06704075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735347069999996 meters 0.019835456704582987 Centerline is valid? [True, True] Translation: X:-53.34, Y:3.48, Z:-3.06 [[ 9.91453168e-01 1.10555681e-01 -6.92680120e-02 -5.33389263e+01] [-1.10225719e-01 9.93869550e-01 8.57952051e-03 3.47755003e+00] [ 6.97918826e-02 -8.71076378e-04 9.97561193e-01 -3.06304811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79534707 meters 0.021254370097089033 Centerline is valid? [True, True] Translation: X:-53.40, Y:3.48, Z:-3.06 [[ 9.92352283e-01 1.02026606e-01 -6.94803456e-02 -5.33976702e+01] [-1.01672074e-01 9.94780541e-01 8.62930694e-03 3.47995252e+00] [ 6.99981147e-02 -1.49910159e-03 9.97545997e-01 -3.05899444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85534706999999 meters 0.022724966336452913 Centerline is valid? [True, True] Translation: X:-53.46, Y:3.48, Z:-3.06 [[ 9.92821694e-01 9.72757854e-02 -6.95881080e-02 -5.34573441e+01] [-9.69079536e-02 9.95255755e-01 8.65042265e-03 3.48125304e+00] [ 7.00994417e-02 -1.84468613e-03 9.97538303e-01 -3.05869554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915347069999996 meters 0.022610171660679246 Centerline is valid? [True, True] Translation: X:-53.51, Y:3.49, Z:-3.05 [[ 9.93149069e-01 9.35624091e-02 -7.00071562e-02 -5.35149980e+01] [-9.31793845e-02 9.95611114e-01 8.72418526e-03 3.49057847e+00] [ 7.05161586e-02 -2.14119275e-03 9.97508339e-01 -3.05477966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97534707 meters 0.024184897600212432 Centerline is valid? [True, True] Translation: X:-53.57, Y:3.49, Z:-3.05 [[ 9.93025201e-01 9.38154184e-02 -7.14116046e-02 -5.35734923e+01] [-9.34167139e-02 9.95587228e-01 8.91005476e-03 3.49377688e+00] [ 7.19323820e-02 -2.17687149e-03 9.97407135e-01 -3.05294693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03534706999999 meters 0.02101383005916596 Centerline is valid? [True, True] Translation: X:-53.63, Y:3.51, Z:-3.05 [[ 9.92682188e-01 9.77420756e-02 -7.09123456e-02 -5.36297568e+01] [-9.73569784e-02 9.95209954e-01 8.87501665e-03 3.51064572e+00] [ 7.14401347e-02 -1.90625925e-03 9.97443068e-01 -3.04990742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095347069999995 meters 0.02249755360777192 Centerline is valid? [True, True] Translation: X:-53.69, Y:3.52, Z:-3.05 [[ 9.92815226e-01 9.50027774e-02 -7.27488829e-02 -5.36888203e+01] [-9.45892817e-02 9.95474644e-01 9.11597390e-03 3.51756549e+00] [ 7.32857112e-02 -2.16921310e-03 9.97308628e-01 -3.04734028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15534707 meters 0.0235197803602942 Centerline is valid? [True, True] Translation: X:-53.75, Y:3.53, Z:-3.05 [[ 9.92909007e-01 9.45139064e-02 -7.21028822e-02 -5.37474742e+01] [-9.41046827e-02 9.95521089e-01 9.05927627e-03 3.52573972e+00] [ 7.26361674e-02 -2.20981815e-03 9.97356057e-01 -3.04564495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21534706999999 meters 0.022716321591112285 Centerline is valid? [True, True] Translation: X:-53.80, Y:3.54, Z:-3.04 [[ 9.92920679e-01 9.37379591e-02 -7.29501280e-02 -5.38042668e+01] [-9.33152264e-02 9.95594208e-01 9.18917287e-03 3.54070445e+00] [ 7.34900993e-02 -2.31676205e-03 9.97293256e-01 -3.04176740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275347069999995 meters 0.022084319967181392 Centerline is valid? [True, True] Translation: X:-53.86, Y:3.55, Z:-3.04 [[ 9.92770506e-01 9.53802921e-02 -7.28651027e-02 -5.38617857e+01] [-9.49621981e-02 9.95438470e-01 9.18879647e-03 3.55439121e+00] [ 7.34091564e-02 -2.20293580e-03 9.97299475e-01 -3.03951389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33534707 meters 0.023579392480018117 Centerline is valid? [True, True] Translation: X:-53.92, Y:3.57, Z:-3.04 [[ 9.93056008e-01 9.12543453e-02 -7.42456050e-02 -5.39203596e+01] [-9.08068137e-02 9.95824273e-01 9.38830266e-03 3.56544889e+00] [ 7.47922991e-02 -2.58110354e-03 9.97195793e-01 -3.03652007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39534706999999 meters 0.02598227613787413 Centerline is valid? [True, True] Translation: X:-53.98, Y:3.57, Z:-3.03 [[ 9.93589955e-01 8.46236375e-02 -7.49522641e-02 -5.39801370e+01] [-8.41470899e-02 9.96408067e-01 9.49900415e-03 3.56972765e+00] [ 7.54868809e-02 -3.13110020e-03 9.97141879e-01 -3.03437391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455347069999995 meters 0.027535844558626545 Centerline is valid? [True, True] Translation: X:-54.04, Y:3.58, Z:-3.03 [[ 9.94029548e-01 7.90750757e-02 -7.51823782e-02 -5.40399278e+01] [-7.85795108e-02 9.96862282e-01 9.53155303e-03 3.57598548e+00] [ 7.57001854e-02 -3.56685085e-03 9.97124245e-01 -3.03366437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51534707 meters 0.029957353122206234 Centerline is valid? [True, True] Translation: X:-54.10, Y:3.58, Z:-3.03 [[ 9.94365713e-01 7.34615167e-02 -7.64214323e-02 -5.41002086e+01] [-7.29327744e-02 9.97289779e-01 9.69059986e-03 3.57947840e+00] [ 7.69261995e-02 -4.06237316e-03 9.97028514e-01 -3.03416133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57534706999999 meters 0.029596233747462973 Centerline is valid? [True, True] Translation: X:-54.16, Y:3.59, Z:-3.03 [[ 9.94500556e-01 7.15899303e-02 -7.64429551e-02 -5.41578210e+01] [-7.10551123e-02 9.97425256e-01 9.69684997e-03 3.58883369e+00] [ 7.69403309e-02 -4.21185992e-03 9.97026803e-01 -3.03334208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635347069999995 meters 0.03004731919329942 Centerline is valid? [True, True] Translation: X:-54.22, Y:3.60, Z:-3.03 [[ 9.94571322e-01 7.06817417e-02 -7.63673831e-02 -5.42164795e+01] [-7.01445744e-02 9.97489704e-01 9.69690812e-03 3.59559270e+00] [ 7.68610727e-02 -4.28750914e-03 9.97032594e-01 -3.03427989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69534707 meters 0.03143433704841872 Centerline is valid? [True, True] Translation: X:-54.27, Y:3.60, Z:-3.04 [[ 9.94451469e-01 7.05946190e-02 -7.79915080e-02 -5.42745406e+01] [-7.00319936e-02 9.97495330e-01 9.92907879e-03 3.60205277e+00] [ 7.84971045e-02 -4.41208620e-03 9.96904578e-01 -3.03938297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75534706999999 meters 0.029706440563955216 Centerline is valid? [True, True] Translation: X:-54.33, Y:3.62, Z:-3.04 [[ 9.93889831e-01 7.63054952e-02 -7.97525817e-02 -5.43325936e+01] [-7.57336248e-02 9.97076166e-01 1.01753572e-02 3.61771240e+00] [ 8.02958340e-02 -4.07323192e-03 9.96762754e-01 -3.04371430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815347069999994 meters 0.024757226845553797 Centerline is valid? [True, True] Translation: X:-54.39, Y:3.64, Z:-3.04 [[ 9.92905264e-01 8.79980943e-02 -7.99716976e-02 -5.43892133e+01] [-8.74606463e-02 9.96115698e-01 1.02054477e-02 3.64183522e+00] [ 8.05591234e-02 -3.13866641e-03 9.96744890e-01 -3.04347886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87534707 meters 0.02154762524447277 Centerline is valid? [True, True] Translation: X:-54.45, Y:3.66, Z:-3.05 [[ 9.91604091e-01 1.01840324e-01 -7.96861018e-02 -5.44473857e+01] [-1.01350997e-01 9.94798727e-01 1.01719240e-02 3.66345968e+00] [ 8.03075447e-02 -2.01025558e-03 9.96768106e-01 -3.04924651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93534706999999 meters 0.0187949034633105 Centerline is valid? [True, True] Translation: X:-54.50, Y:3.69, Z:-3.05 [[ 9.89948257e-01 1.16341042e-01 -8.04189644e-02 -5.45034923e+01] [-1.15890273e-01 9.93208966e-01 1.02661432e-02 3.68887961e+00] [ 8.10672103e-02 -8.43174819e-04 9.96708281e-01 -3.05051137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995347069999994 meters 0.018310012871056134 Centerline is valid? [True, True] Translation: X:-54.56, Y:3.70, Z:-3.05 [[ 9.89024427e-01 1.23889089e-01 -8.05119696e-02 -5.45605313e+01] [-1.23461557e-01 9.92296044e-01 1.02861334e-02 3.70248027e+00] [ 8.11660487e-02 -2.33104011e-04 9.96700566e-01 -3.05312161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055347069999996 meters 0.018134079781143758 Centerline is valid? [True, True] Translation: X:-54.62, Y:3.71, Z:-3.05 [[ 9.89177595e-01 1.23176140e-01 -7.97202866e-02 -5.46171323e+01] [-1.22752602e-01 9.92384774e-01 1.02107336e-02 3.70908895e+00] [ 8.03709173e-02 -3.14356305e-04 9.96764976e-01 -3.04984959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11534707 meters 0.018142669230372513 Centerline is valid? [True, True] Translation: X:-54.68, Y:3.71, Z:-3.06 [[ 9.90009409e-01 1.17249739e-01 -7.83190235e-02 -5.46765083e+01] [-1.16820591e-01 9.93102135e-01 1.00547943e-02 3.70888815e+00] [ 7.89577115e-02 -8.05066322e-04 9.96877641e-01 -3.05620304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175347069999994 meters 0.019510694078362447 Centerline is valid? [True, True] Translation: X:-54.74, Y:3.71, Z:-3.06 [[ 9.91074752e-01 1.06633297e-01 -8.00011041e-02 -5.47362712e+01] [-1.06148975e-01 9.94296944e-01 1.02947647e-02 3.70667708e+00] [ 8.06426180e-02 -1.71084621e-03 9.96741612e-01 -3.06312345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235347069999996 meters 0.020887442459768306 Centerline is valid? [True, True] Translation: X:-54.80, Y:3.71, Z:-3.06 [[ 9.91585012e-01 1.01854454e-01 -7.99051633e-02 -5.47955018e+01] [-1.01355427e-01 9.94797091e-01 1.02870936e-02 3.70785086e+00] [ 8.05372103e-02 -2.10170581e-03 9.96749387e-01 -3.06493247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29534707 meters 0.022240042750321314 Centerline is valid? [True, True] Translation: X:-54.85, Y:3.71, Z:-3.06 [[ 9.91885333e-01 1.00357074e-01 -7.80509035e-02 -5.48537930e+01] [-9.98755169e-02 9.94949092e-01 1.00590696e-02 3.71346043e+00] [ 7.86661744e-02 -2.18206931e-03 9.96898627e-01 -3.06419998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35534706999999 meters 0.020299827293573162 Centerline is valid? [True, True] Translation: X:-54.91, Y:3.72, Z:-3.07 [[ 9.91525893e-01 1.03233990e-01 -7.88615700e-02 -5.49107354e+01] [-1.02749327e-01 9.94655086e-01 1.01899422e-02 3.72381673e+00] [ 7.94920101e-02 -2.00061827e-03 9.96833496e-01 -3.07455364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415347069999996 meters 0.018130750964570345 Centerline is valid? [True, True] Translation: X:-54.97, Y:3.74, Z:-3.07 [[ 9.90583886e-01 1.10890455e-01 -8.02924117e-02 -5.49671777e+01] [-1.10411211e-01 9.93831600e-01 1.03978906e-02 3.74148034e+00] [ 8.09501627e-02 -1.43480047e-03 9.96717118e-01 -3.07441710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47534707 meters 0.017069528877434296 Centerline is valid? [True, True] Translation: X:-55.02, Y:3.76, Z:-3.08 [[ 9.89649428e-01 1.19146606e-01 -7.99881016e-02 -5.50237739e+01] [-1.18696929e-01 9.92876375e-01 1.03703310e-02 3.75662230e+00] [ 8.06538860e-02 -7.68650182e-04 9.96741872e-01 -3.08147994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53534706999999 meters 0.01632859663251111 Centerline is valid? [True, True] Translation: X:-55.08, Y:3.77, Z:-3.09 [[ 9.89042432e-01 1.24655207e-01 -7.90958132e-02 -5.50799539e+01] [-1.24231066e-01 9.92200062e-01 1.02800424e-02 3.76822725e+00] [ 7.97603316e-02 -3.41240958e-04 9.96814011e-01 -3.08527781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595347069999995 meters 0.017142783315634257 Centerline is valid? [True, True] Translation: X:-55.14, Y:3.78, Z:-3.09 [[ 9.89203628e-01 1.22349925e-01 -8.06639848e-02 -5.51378218e+01] [-1.21899776e-01 9.92486871e-01 1.05002637e-02 3.77535011e+00] [ 8.13426523e-02 -5.53977215e-04 9.96686042e-01 -3.09355693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65534707 meters 0.0162497266074202 Centerline is valid? [True, True] Translation: X:-55.20, Y:3.78, Z:-3.10 [[ 9.89613759e-01 1.19305935e-01 -8.01916588e-02 -5.51964388e+01] [-1.18848667e-01 9.92857193e-01 1.04684181e-02 3.77912128e+00] [ 8.08678097e-02 -8.29018821e-04 9.96724491e-01 -3.10058502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71534706999999 meters 0.016863986439319845 Centerline is valid? [True, True] Translation: X:-55.26, Y:3.78, Z:-3.11 [[ 9.90008853e-01 1.15892827e-01 -8.03201364e-02 -5.52555536e+01] [-1.15420656e-01 9.93261074e-01 1.05124614e-02 3.78178534e+00] [ 8.09971838e-02 -1.13682697e-03 9.96713682e-01 -3.10622382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775347069999995 meters 0.01804596719750916 Centerline is valid? [True, True] Translation: X:-55.31, Y:3.78, Z:-3.11 [[ 9.90480363e-01 1.11269690e-01 -8.10413923e-02 -5.53142785e+01] [-1.10771347e-01 9.93789031e-01 1.06334939e-02 3.78259483e+00] [ 8.17212323e-02 -1.55520270e-03 9.96654013e-01 -3.11265785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83534707 meters 0.01953971649776474 Centerline is valid? [True, True] Translation: X:-55.37, Y:3.79, Z:-3.12 [[ 9.91150073e-01 1.04215961e-01 -8.22226595e-02 -5.53740759e+01] [-1.03676823e-01 9.94552278e-01 1.08112690e-02 3.78535496e+00] [ 8.29014400e-02 -2.19100596e-03 9.96555343e-01 -3.12229962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89534706999999 meters 0.01862871711815691 Centerline is valid? [True, True] Translation: X:-55.43, Y:3.80, Z:-3.12 [[ 9.91454158e-01 1.02837639e-01 -8.02687532e-02 -5.54307113e+01] [-1.02319091e-01 9.94695600e-01 1.05577587e-02 3.79570360e+00] [ 8.09287106e-02 -2.25450783e-03 9.96717343e-01 -3.12338555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955347069999995 meters 0.02135623110091981 Centerline is valid? [True, True] Translation: X:-55.49, Y:3.80, Z:-3.13 [[ 9.92113617e-01 9.59103505e-02 -8.06955755e-02 -5.54906090e+01] [-9.53626668e-02 9.95385914e-01 1.06227833e-02 3.79791671e+00] [ 8.13420740e-02 -2.84366272e-03 9.96682186e-01 -3.13438958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01534707 meters 0.022600056869610707 Centerline is valid? [True, True] Translation: X:-55.55, Y:3.80, Z:-3.14 [[ 9.92702400e-01 8.90888232e-02 -8.12719282e-02 -5.55492222e+01] [-8.85102621e-02 9.96017781e-01 1.07011410e-02 3.80475000e+00] [ 8.19016376e-02 -3.42964871e-03 9.96634516e-01 -3.13919519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07534706999999 meters 0.021740429594757537 Centerline is valid? [True, True] Translation: X:-55.61, Y:3.82, Z:-3.14 [[ 9.92992514e-01 8.48820074e-02 -8.22247684e-02 -5.56074521e+01] [-8.42750572e-02 9.96383667e-01 1.08306165e-02 3.81651061e+00] [ 8.28467408e-02 -3.82522405e-03 9.96554958e-01 -3.14073104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135347069999995 meters 0.025909052667923246 Centerline is valid? [True, True] Translation: X:-55.67, Y:3.82, Z:-3.15 [[ 9.93491819e-01 7.88756645e-02 -8.21744135e-02 -5.56667248e+01] [-7.82486735e-02 9.96875070e-01 1.08277812e-02 3.82148940e+00] [ 8.27716726e-02 -4.32727325e-03 9.96559143e-01 -3.15167742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19534707 meters 0.030106976347480933 Centerline is valid? [True, True] Translation: X:-55.73, Y:3.82, Z:-3.17 [[ 9.93680678e-01 7.65093229e-02 -8.21281561e-02 -5.57254237e+01] [-7.58744091e-02 9.97058580e-01 1.08287175e-02 3.82399143e+00] [ 8.27150806e-02 -4.52886202e-03 9.96562946e-01 -3.16518526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25534706999999 meters 0.02860415817102791 Centerline is valid? [True, True] Translation: X:-55.78, Y:3.84, Z:-3.17 [[ 9.93909563e-01 7.13903479e-02 -8.39476010e-02 -5.57822455e+01] [-7.07069125e-02 9.97435482e-01 1.10901274e-02 3.84327387e+00] [ 8.45240439e-02 -5.08690801e-03 9.96408455e-01 -3.16709033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315347069999994 meters 0.026546657051376495 Centerline is valid? [True, True] Translation: X:-55.84, Y:3.86, Z:-3.17 [[ 9.94178532e-01 6.59657378e-02 -8.51913601e-02 -5.58402517e+01] [-6.52418210e-02 9.97805987e-01 1.12568953e-02 3.86239457e+00] [ 8.57470185e-02 -5.63332421e-03 9.96301016e-01 -3.17299489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37534707 meters 0.03359092048666466 Centerline is valid? [True, True] Translation: X:-55.90, Y:3.86, Z:-3.18 [[ 9.94670861e-01 6.07176133e-02 -8.33261702e-02 -5.59009637e+01] [-6.00067311e-02 9.98137232e-01 1.10117103e-02 3.85818073e+00] [ 8.38395577e-02 -5.95289626e-03 9.96461485e-01 -3.18457121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43534706999999 meters 0.03759261283749131 Centerline is valid? [True, True] Translation: X:-55.96, Y:3.86, Z:-3.19 [[ 9.94876353e-01 5.67177875e-02 -8.36907072e-02 -5.59610836e+01] [-5.59864317e-02 9.98370249e-01 1.10618572e-02 3.86174759e+00] [ 8.41817163e-02 -6.31963611e-03 9.96430379e-01 -3.19316863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495347069999994 meters 0.03633360886809026 Centerline is valid? [True, True] Translation: X:-56.02, Y:3.88, Z:-3.20 [[ 9.95126709e-01 5.25689396e-02 -8.34226589e-02 -5.60182526e+01] [-5.18276733e-02 9.98595151e-01 1.10280129e-02 3.87797053e+00] [ 8.38851936e-02 -6.65066782e-03 9.96453232e-01 -3.19720705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555347069999996 meters 0.03841005546013813 Centerline is valid? [True, True] Translation: X:-56.08, Y:3.89, Z:-3.21 [[ 9.95409847e-01 4.47037358e-02 -8.46215831e-02 -5.60758222e+01] [-4.39125148e-02 9.98972717e-01 1.11893766e-02 3.89070837e+00] [ 8.50348597e-02 -7.42206912e-03 9.96350333e-01 -3.20604666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61534706999999 meters 0.04143521095842107 Centerline is valid? [True, True] Translation: X:-56.14, Y:3.90, Z:-3.21 [[ 9.95632509e-01 4.12525202e-02 -8.37504437e-02 -5.61358346e+01] [-4.04652446e-02 9.99119547e-01 1.10767919e-02 3.89607679e+00] [ 8.41336509e-02 -7.63943188e-03 9.96425194e-01 -3.21075725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675347069999994 meters 0.044221885258127064 Centerline is valid? [True, True] Translation: X:-56.20, Y:3.90, Z:-3.22 [[ 9.95846265e-01 3.49343595e-02 -8.40821400e-02 -5.61951280e+01] [-3.41183614e-02 9.99355905e-01 1.11226431e-02 3.90303112e+00] [ 8.44165455e-02 -8.20769777e-03 9.96396749e-01 -3.21912640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735347069999996 meters 0.046016416565677114 Centerline is valid? [True, True] Translation: X:-56.25, Y:3.91, Z:-3.23 [[ 9.96064490e-01 2.93754491e-02 -8.36218543e-02 -5.62545911e+01] [-2.85488233e-02 9.99531164e-01 1.10641855e-02 3.91055559e+00] [ 8.39076648e-02 -8.63333671e-03 9.96436134e-01 -3.22721279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79534707 meters 0.043573641189969106 Centerline is valid? [True, True] Translation: X:-56.31, Y:3.93, Z:-3.23 [[ 9.96063552e-01 2.90684448e-02 -8.37402300e-02 -5.63102843e+01] [-2.82380251e-02 9.99539771e-01 1.10842666e-02 3.92807314e+00] [ 8.40238926e-02 -8.67597526e-03 9.96425970e-01 -3.23187324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85534706999999 meters 0.04091083336356809 Centerline is valid? [True, True] Translation: X:-56.37, Y:3.95, Z:-3.24 [[ 9.95981297e-01 3.28984494e-02 -8.33003532e-02 -5.63682193e+01] [-3.20893644e-02 9.99424101e-01 1.10335250e-02 3.94684098e+00] [ 8.36153665e-02 -8.31612916e-03 9.96463402e-01 -3.23828070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915347069999996 meters 0.03963049253610408 Centerline is valid? [True, True] Translation: X:-56.43, Y:3.96, Z:-3.24 [[ 9.95774121e-01 3.81126265e-02 -8.35543380e-02 -5.64263624e+01] [-3.73166485e-02 9.99242195e-01 1.10681468e-02 3.96240542e+00] [ 8.39128563e-02 -7.90340632e-03 9.96441754e-01 -3.24313879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97534707 meters 0.03993273738454252 Centerline is valid? [True, True] Translation: X:-56.49, Y:3.98, Z:-3.25 [[ 9.95444197e-01 4.60522123e-02 -8.34867913e-02 -5.64852988e+01] [-4.52850016e-02 9.98912869e-01 1.10610967e-02 3.97541884e+00] [ 8.39054182e-02 -7.23000502e-03 9.96447494e-01 -3.25381175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03534706999999 meters 0.036198828770650476 Centerline is valid? [True, True] Translation: X:-56.54, Y:4.00, Z:-3.26 [[ 9.95112059e-01 5.34856462e-02 -8.30137115e-02 -5.65432207e+01] [-5.27526334e-02 9.98547024e-01 1.10000052e-02 3.99550636e+00] [ 8.34814369e-02 -6.56704590e-03 9.96487694e-01 -3.25774994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095347069999995 meters 0.034265519109629716 Centerline is valid? [True, True] Translation: X:-56.60, Y:4.01, Z:-3.26 [[ 9.94654932e-01 6.19906927e-02 -8.25755381e-02 -5.66020282e+01] [-6.12944060e-02 9.98059740e-01 1.09430889e-02 4.01272861e+00] [ 8.30936897e-02 -5.82317878e-03 9.96524726e-01 -3.26259391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15534707 meters 0.03079659059509981 Centerline is valid? [True, True] Translation: X:-56.66, Y:4.03, Z:-3.27 [[ 9.94175550e-01 6.82571229e-02 -8.34022816e-02 -5.66594090e+01] [-6.75687044e-02 9.97653404e-01 1.10524204e-02 4.03223419e+00] [ 8.39609765e-02 -5.35266207e-03 9.96454667e-01 -3.26762233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21534706999999 meters 0.02679640824341075 Centerline is valid? [True, True] Translation: X:-56.72, Y:4.05, Z:-3.27 [[ 9.93564082e-01 7.69269683e-02 -8.31423871e-02 -5.67170551e+01] [-7.62728739e-02 9.97026085e-01 1.10197237e-02 4.05421542e+00] [ 8.37428426e-02 -4.60729289e-03 9.96476748e-01 -3.27402124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275347069999995 meters 0.024603452799006147 Centerline is valid? [True, True] Translation: X:-56.78, Y:4.07, Z:-3.28 [[ 9.92558322e-01 9.04890565e-02 -8.14844068e-02 -5.67750783e+01] [-8.99062272e-02 9.95891664e-01 1.08011222e-02 4.07316699e+00] [ 8.21270248e-02 -3.39478816e-03 9.96616088e-01 -3.27657085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33534707 meters 0.01960847461494334 Centerline is valid? [True, True] Translation: X:-56.83, Y:4.10, Z:-3.28 [[ 9.91565171e-01 1.00043379e-01 -8.24004547e-02 -5.68317136e+01] [-9.94801322e-02 9.94979590e-01 1.09233130e-02 4.09856924e+00] [ 8.30795757e-02 -2.63396860e-03 9.96539435e-01 -3.28298596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39534706999999 meters 0.019334001054694544 Centerline is valid? [True, True] Translation: X:-56.89, Y:4.12, Z:-3.28 [[ 9.90719937e-01 1.08477060e-01 -8.18946519e-02 -5.68897244e+01] [-1.07949265e-01 9.94097104e-01 1.08583723e-02 4.11617659e+00] [ 8.25891206e-02 -1.91713842e-03 9.96581839e-01 -3.28405902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455347069999995 meters 0.01632163481525032 Centerline is valid? [True, True] Translation: X:-56.95, Y:4.13, Z:-3.29 [[ 9.90043809e-01 1.13239358e-01 -8.36068458e-02 -5.69482464e+01] [-1.12706223e-01 9.93566526e-01 1.10844679e-02 4.13463620e+00] [ 8.43241614e-02 -1.55109706e-03 9.96437168e-01 -3.29413399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51534707 meters 0.015254503947288167 Centerline is valid? [True, True] Translation: X:-57.01, Y:4.15, Z:-3.30 [[ 9.89338124e-01 1.19254804e-01 -8.35964559e-02 -5.70085312e+01] [-1.18744097e-01 9.92863150e-01 1.10726993e-02 4.14980365e+00] [ 8.43203131e-02 -1.02805792e-03 9.96438171e-01 -3.29895803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57534706999999 meters 0.014444167544626045 Centerline is valid? [True, True] Translation: X:-57.07, Y:4.17, Z:-3.30 [[ 9.88263930e-01 1.27644328e-01 -8.39126356e-02 -5.70682077e+01] [-1.27160689e-01 9.91819960e-01 1.11052441e-02 4.16851305e+00] [ 8.46437483e-02 -3.04523588e-04 9.96411232e-01 -3.30139945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635347069999995 meters 0.014567756995926539 Centerline is valid? [True, True] Translation: X:-57.13, Y:4.19, Z:-3.31 [[ 9.86667714e-01 1.38632594e-01 -8.52515484e-02 -5.71278240e+01] [-1.38175377e-01 9.90343661e-01 1.12693141e-02 4.19262201e+00] [ 8.59906248e-02 6.60596544e-04 9.96295727e-01 -3.30831323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69534707 meters 0.01604709144768741 Centerline is valid? [True, True] Translation: X:-57.19, Y:4.21, Z:-3.31 [[ 9.85130104e-01 1.49201775e-01 -8.51910091e-02 -5.71873220e+01] [-1.48785235e-01 9.88805495e-01 1.12537870e-02 4.21363353e+00] [ 8.59164229e-02 1.58871998e-03 9.96301081e-01 -3.31176172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75534706999999 meters 0.01941375147346948 Centerline is valid? [True, True] Translation: X:-57.25, Y:4.24, Z:-3.32 [[ 9.83535861e-01 1.59622482e-01 -8.47223352e-02 -5.72452964e+01] [-1.59249399e-01 9.87174994e-01 1.11874559e-02 4.23528443e+00] [ 8.54215403e-02 2.48871691e-03 9.96341792e-01 -3.31688610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815347069999994 meters 0.018197689023418808 Centerline is valid? [True, True] Translation: X:-57.31, Y:4.24, Z:-3.32 [[ 9.83568669e-01 1.59035847e-01 -8.54416319e-02 -5.73076467e+01] [-1.58654601e-01 9.87269736e-01 1.12776766e-02 4.24213165e+00] [ 8.61474922e-02 2.46333866e-03 9.96279349e-01 -3.31778845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87534707 meters 0.019836174374495395 Centerline is valid? [True, True] Translation: X:-57.37, Y:4.25, Z:-3.32 [[ 9.83203184e-01 1.61204694e-01 -8.55835556e-02 -5.73690418e+01] [-1.60832017e-01 9.86917364e-01 1.12774023e-02 4.25417712e+00] [ 8.62818672e-02 2.67659800e-03 9.96267171e-01 -3.32447497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93534706999999 meters 0.018426949176747337 Centerline is valid? [True, True] Translation: X:-57.43, Y:4.26, Z:-3.33 [[ 9.83812437e-01 1.57055237e-01 -8.62944978e-02 -5.74306620e+01] [-1.56661608e-01 9.87587035e-01 1.13573593e-02 4.25715415e+00] [ 8.70070599e-02 2.34552343e-03 9.96204934e-01 -3.33321479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995347069999994 meters 0.01796850128806421 Centerline is valid? [True, True] Translation: X:-57.49, Y:4.26, Z:-3.34 [[ 9.84403672e-01 1.53507001e-01 -8.59360893e-02 -5.74931640e+01] [-1.53104207e-01 9.88145464e-01 1.12979647e-02 4.26329654e+00] [ 8.66516735e-02 2.03541888e-03 9.96236591e-01 -3.33505156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055347069999996 meters 0.01589387334834058 Centerline is valid? [True, True] Translation: X:-57.55, Y:4.26, Z:-3.34 [[ 9.85332515e-01 1.46853139e-01 -8.69136973e-02 -5.75545424e+01] [-1.46417664e-01 9.89157179e-01 1.13992566e-02 4.26441921e+00] [ 8.76453242e-02 1.49364229e-03 9.96150624e-01 -3.33802688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11534706999999 meters 0.016305278534698764 Centerline is valid? [True, True] Translation: X:-57.62, Y:4.27, Z:-3.35 [[ 9.85672687e-01 1.44496122e-01 -8.70070354e-02 -5.76155333e+01] [-1.44052899e-01 9.89504497e-01 1.13847534e-02 4.27286108e+00] [ 8.77389055e-02 1.31197525e-03 9.96142642e-01 -3.34691555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175347069999994 meters 0.01586603203463645 Centerline is valid? [True, True] Translation: X:-57.68, Y:4.28, Z:-3.35 [[ 9.86003513e-01 1.42108877e-01 -8.71902528e-02 -5.76767569e+01] [-1.41656685e-01 9.89850391e-01 1.13835972e-02 4.27832829e+00] [ 8.79230160e-02 1.12681532e-03 9.96126635e-01 -3.34871764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235347069999996 meters 0.01543805455352255 Centerline is valid? [True, True] Translation: X:-57.74, Y:4.29, Z:-3.35 [[ 9.86340447e-01 1.39742741e-01 -8.72037252e-02 -5.77373058e+01] [-1.39282731e-01 9.90187404e-01 1.13677561e-02 4.28586713e+00] [ 8.79365917e-02 9.33495413e-04 9.96125637e-01 -3.34998051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29534707 meters 0.01590632938062766 Centerline is valid? [True, True] Translation: X:-57.80, Y:4.30, Z:-3.36 [[ 9.86549590e-01 1.38069719e-01 -8.75023388e-02 -5.77990116e+01] [-1.37602551e-01 9.90422176e-01 1.13776597e-02 4.29706389e+00] [ 8.82351670e-02 8.15919524e-04 9.96099337e-01 -3.35969303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35534706999999 meters 0.016444826881274154 Centerline is valid? [True, True] Translation: X:-57.86, Y:4.31, Z:-3.37 [[ 9.86647983e-01 1.36735620e-01 -8.84823595e-02 -5.78594634e+01] [-1.36255505e-01 9.90607302e-01 1.14721590e-02 4.31067415e+00] [ 8.92199242e-02 7.37226052e-04 9.96011677e-01 -3.37004155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415347069999996 meters 0.017157654229038692 Centerline is valid? [True, True] Translation: X:-57.92, Y:4.33, Z:-3.38 [[ 9.86348564e-01 1.38681792e-01 -8.87911666e-02 -5.79188985e+01] [-1.38208373e-01 9.90336547e-01 1.14878165e-02 4.32550259e+00] [ 8.95262883e-02 9.40691380e-04 9.95984015e-01 -3.37759211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47534707 meters 0.018545645348664427 Centerline is valid? [True, True] Translation: X:-57.98, Y:4.34, Z:-3.38 [[ 9.85834121e-01 1.42090072e-01 -8.91150750e-02 -5.79795095e+01] [-1.41628733e-01 9.89852914e-01 1.15113503e-02 4.34442976e+00] [ 8.98464652e-02 1.27297327e-03 9.95954814e-01 -3.38034426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53534706999999 meters 0.019149098574087236 Centerline is valid? [True, True] Translation: X:-58.04, Y:4.36, Z:-3.38 [[ 9.85296053e-01 1.46123402e-01 -8.85417376e-02 -5.80388082e+01] [-1.45686582e-01 9.89264984e-01 1.14110126e-02 4.36488517e+00] [ 8.92586566e-02 1.65611741e-03 9.96007103e-01 -3.38255951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595347069999995 meters 0.01998116416256527 Centerline is valid? [True, True] Translation: X:-58.10, Y:4.38, Z:-3.39 [[ 9.85410044e-01 1.45643858e-01 -8.80619809e-02 -5.80988377e+01] [-1.45212118e-01 9.89335743e-01 1.13237853e-02 4.38325830e+00] [ 8.87721051e-02 1.62909497e-03 9.96050631e-01 -3.38608316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65534707 meters 0.01829134587064873 Centerline is valid? [True, True] Translation: X:-58.16, Y:4.40, Z:-3.39 [[ 9.85506609e-01 1.44029459e-01 -8.96227614e-02 -5.81582288e+01] [-1.43577865e-01 9.89572210e-01 1.14994795e-02 4.39805067e+00] [ 9.03444578e-02 1.53503174e-03 9.95909395e-01 -3.39256759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71534706999999 meters 0.018208907218819362 Centerline is valid? [True, True] Translation: X:-58.22, Y:4.42, Z:-3.40 [[ 9.86129874e-01 1.40101572e-01 -8.89911279e-02 -5.82177543e+01] [-1.39642084e-01 9.90136427e-01 1.13993220e-02 4.41524641e+00] [ 8.97104203e-02 1.18569463e-03 9.95967186e-01 -3.40489522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775347069999995 meters 0.01790948555689877 Centerline is valid? [True, True] Translation: X:-58.28, Y:4.43, Z:-3.41 [[ 9.87177790e-01 1.31609544e-01 -9.03268392e-02 -5.82781802e+01] [-1.31103189e-01 9.91301532e-01 1.15423764e-02 4.42904774e+00] [ 9.10602210e-02 4.47759102e-04 9.95845287e-01 -3.41451768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83534707 meters 0.017653252150178118 Centerline is valid? [True, True] Translation: X:-58.34, Y:4.44, Z:-3.42 [[ 9.87837435e-01 1.26769628e-01 -9.00370109e-02 -5.83389585e+01] [-1.26248933e-01 9.91932185e-01 1.14780828e-02 4.44152953e+00] [ 9.07656813e-02 2.85966719e-05 9.95872276e-01 -3.42176702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89534706999999 meters 0.01798389495812268 Centerline is valid? [True, True] Translation: X:-58.40, Y:4.45, Z:-3.43 [[ 9.88625019e-01 1.19857973e-01 -9.08550397e-02 -5.83984155e+01] [-1.19301044e-01 9.92790876e-01 1.15558260e-02 4.45411498e+00] [ 9.15851124e-02 -5.85277634e-04 9.95797080e-01 -3.43033865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955347069999995 meters 0.018612739655984534 Centerline is valid? [True, True] Translation: X:-58.46, Y:4.47, Z:-3.44 [[ 9.89416606e-01 1.13569536e-01 -9.03146725e-02 -5.84574564e+01] [-1.12995341e-01 9.93529401e-01 1.14622188e-02 4.47242262e+00] [ 9.10320413e-02 -1.13577244e-03 9.95847316e-01 -3.44374570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01534707 meters 0.019527975723247996 Centerline is valid? [True, True] Translation: X:-58.52, Y:4.48, Z:-3.46 [[ 9.89500665e-01 1.09159952e-01 -9.47234846e-02 -5.85179135e+01] [-1.08510128e-01 9.94022917e-01 1.19996684e-02 4.48063741e+00] [ 9.54671977e-02 -1.59522249e-03 9.95431298e-01 -3.45548136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07534706999999 meters 0.01894091801860349 Centerline is valid? [True, True] Translation: X:-58.58, Y:4.49, Z:-3.46 [[ 9.89198262e-01 1.11227796e-01 -9.54734290e-02 -5.85788243e+01] [-1.10578075e-01 9.93793954e-01 1.20857820e-02 4.49419177e+00] [ 9.62251914e-02 -1.39796655e-03 9.95358608e-01 -3.46324465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135347069999995 meters 0.017803682309880227 Centerline is valid? [True, True] Translation: X:-58.64, Y:4.51, Z:-3.47 [[ 9.88198807e-01 1.18675698e-01 -9.68462568e-02 -5.86388740e+01] [-1.18044197e-01 9.92932844e-01 1.22448115e-02 4.50819207e+00] [ 9.76149907e-02 -6.68169551e-04 9.95224029e-01 -3.46691972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19534707 meters 0.017091440000066512 Centerline is valid? [True, True] Translation: X:-58.70, Y:4.52, Z:-3.46 [[ 9.87460476e-01 1.25859648e-01 -9.52951046e-02 -5.86992044e+01] [-1.25283526e-01 9.92048056e-01 1.20288414e-02 4.51819979e+00] [ 9.60512690e-02 6.09011790e-05 9.95376386e-01 -3.46231595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25534706999999 meters 0.018050052877646765 Centerline is valid? [True, True] Translation: X:-58.76, Y:4.53, Z:-3.47 [[ 9.85573184e-01 1.40623178e-01 -9.41839727e-02 -5.87599642e+01] [-1.40128789e-01 9.90062064e-01 1.18756599e-02 4.53470365e+00] [ 9.49179715e-02 1.49355410e-03 9.95483977e-01 -3.47076375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315347069999994 meters 0.02130982184622611 Centerline is valid? [True, True] Translation: X:-58.82, Y:4.55, Z:-3.48 [[ 9.83538716e-01 1.54077266e-01 -9.44022760e-02 -5.88184515e+01] [-1.53644414e-01 9.88054779e-01 1.18805427e-02 4.55172827e+00] [ 9.51051415e-02 2.81940861e-03 9.95463240e-01 -3.47628841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37534707 meters 0.02361832288220316 Centerline is valid? [True, True] Translation: X:-58.88, Y:4.56, Z:-3.48 [[ 9.81882891e-01 1.63833281e-01 -9.52084283e-02 -5.88787099e+01] [-1.63438776e-01 9.86480733e-01 1.19804240e-02 4.55738346e+00] [ 9.58840723e-02 3.79737562e-03 9.95385264e-01 -3.48044986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43534706999999 meters 0.01970021718096182 Centerline is valid? [True, True] Translation: X:-58.95, Y:4.52, Z:-3.49 [[ 9.84007368e-01 1.49318042e-01 -9.71268378e-02 -5.89452359e+01] [-1.48837102e-01 9.88786229e-01 1.22192719e-02 4.51792937e+00] [ 9.78622374e-02 2.43222351e-03 9.95196999e-01 -3.48760261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495347069999994 meters 0.0167494137699945 Centerline is valid? [True, True] Translation: X:-59.01, Y:4.48, Z:-3.49 [[ 9.87355785e-01 1.29344112e-01 -9.16441748e-02 -5.90113595e+01] [-1.28830132e-01 9.91599677e-01 1.15272378e-02 4.48180868e+00] [ 9.23653145e-02 4.25046187e-04 9.95725097e-01 -3.48622020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555347069999996 meters 0.018385974925850944 Centerline is valid? [True, True] Translation: X:-59.07, Y:4.48, Z:-3.49 [[ 9.85434980e-01 1.39203276e-01 -9.76747009e-02 -5.90726318e+01] [-1.38667671e-01 9.90262782e-01 1.22841451e-02 4.48312228e+00] [ 9.84336143e-02 1.43909696e-03 9.95142579e-01 -3.49310656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61534706999999 meters 0.020231949860252212 Centerline is valid? [True, True] Translation: X:-59.13, Y:4.50, Z:-3.50 [[ 9.84136954e-01 1.48231887e-01 -9.74769929e-02 -5.91329191e+01] [-1.47742898e-01 9.88949863e-01 1.22558028e-02 4.49850245e+00] [ 9.82165595e-02 2.34014498e-03 9.95162314e-01 -3.50024530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675347069999994 meters 0.021760664417041383 Centerline is valid? [True, True] Translation: X:-59.19, Y:4.51, Z:-3.50 [[ 9.83315445e-01 1.54287331e-01 -9.63647029e-02 -5.91936832e+01] [-1.53838945e-01 9.88021718e-01 1.21104846e-02 4.50601200e+00] [ 9.70789137e-02 2.91621767e-03 9.95272415e-01 -3.50437128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735347069999996 meters 0.021705070259898734 Centerline is valid? [True, True] Translation: X:-59.26, Y:4.51, Z:-3.50 [[ 9.82752733e-01 1.57826297e-01 -9.63738811e-02 -5.92550312e+01] [-1.57395181e-01 9.87461476e-01 1.21074674e-02 4.51183427e+00] [ 9.70763716e-02 3.27013782e-03 9.95271563e-01 -3.49572998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79534707 meters 0.022332076321774676 Centerline is valid? [True, True] Translation: X:-59.32, Y:4.52, Z:-3.50 [[ 9.83029847e-01 1.58899011e-01 -9.16701969e-02 -5.93169467e+01] [-1.58514659e-01 9.87289588e-01 1.15053526e-02 4.52207950e+00] [ 9.23332200e-02 3.22096505e-03 9.95722954e-01 -3.49824217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85534706999999 meters 0.019719913558708023 Centerline is valid? [True, True] Translation: X:-59.38, Y:4.52, Z:-3.50 [[ 9.84162487e-01 1.51602413e-01 -9.18744098e-02 -5.93770381e+01] [-1.51186548e-01 9.88438234e-01 1.15101965e-02 4.52340048e+00] [ 9.25571529e-02 2.56227122e-03 9.95704077e-01 -3.50179319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915347069999996 meters 0.01855661392830046 Centerline is valid? [True, True] Translation: X:-59.44, Y:4.53, Z:-3.51 [[ 9.84956886e-01 1.46568415e-01 -9.15294070e-02 -5.94383271e+01] [-1.46134336e-01 9.89198338e-01 1.14631147e-02 4.53042484e+00] [ 9.22208678e-02 2.08491540e-03 9.95736393e-01 -3.50687420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97534707 meters 0.016199002522812155 Centerline is valid? [True, True] Translation: X:-59.50, Y:4.54, Z:-3.51 [[ 9.86169460e-01 1.38829687e-01 -9.05323922e-02 -5.94994175e+01] [-1.38373457e-01 9.90315343e-01 1.13273504e-02 4.53596221e+00] [ 9.12281895e-02 1.35659298e-03 9.95829090e-01 -3.50515059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03534706999999 meters 0.016347508245558685 Centerline is valid? [True, True] Translation: X:-59.56, Y:4.55, Z:-3.52 [[ 9.86611293e-01 1.36047706e-01 -8.99398582e-02 -5.95598967e+01] [-1.35586924e-01 9.90701673e-01 1.12419495e-02 4.54887751e+00] [ 9.06330094e-02 1.10323433e-03 9.95883748e-01 -3.51613398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095347069999995 meters 0.01642659123974638 Centerline is valid? [True, True] Translation: X:-59.62, Y:4.56, Z:-3.51 [[ 9.86744120e-01 1.35090408e-01 -8.99256523e-02 -5.96232472e+01] [-1.34628414e-01 9.90832727e-01 1.12114956e-02 4.55625832e+00] [ 9.06158448e-02 1.04367063e-03 9.95885375e-01 -3.51095085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15534707 meters 0.01580477844724394 Centerline is valid? [True, True] Translation: X:-59.68, Y:4.57, Z:-3.52 [[ 9.86727682e-01 1.34906015e-01 -9.03816873e-02 -5.96837962e+01] [-1.34441367e-01 9.90857829e-01 1.12374819e-02 4.57080024e+00] [ 9.10714063e-02 1.06270312e-03 9.95843798e-01 -3.52029712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21534706999999 meters 0.016066988254942224 Centerline is valid? [True, True] Translation: X:-59.74, Y:4.59, Z:-3.53 [[ 9.86561604e-01 1.36218093e-01 -9.02265659e-02 -5.97438330e+01] [-1.35763035e-01 9.90678136e-01 1.11905949e-02 4.58731625e+00] [ 9.09098476e-02 1.20922112e-03 9.95858392e-01 -3.52734959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275347069999995 meters 0.01692415244664239 Centerline is valid? [True, True] Translation: X:-59.80, Y:4.60, Z:-3.53 [[ 9.85929473e-01 1.40114809e-01 -9.11642134e-02 -5.98047385e+01] [-1.39669419e-01 9.90133950e-01 1.12789055e-02 4.60119081e+00] [ 9.18451245e-02 1.61264739e-03 9.95771998e-01 -3.52612160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33534707 meters 0.017801285562256595 Centerline is valid? [True, True] Translation: X:-59.87, Y:4.62, Z:-3.53 [[ 9.85680343e-01 1.41939435e-01 -9.10354796e-02 -5.98654133e+01] [-1.41505594e-01 9.89873694e-01 1.12355091e-02 4.61570123e+00] [ 9.17083883e-02 1.80740922e-03 9.95784266e-01 -3.52955101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39534706999999 meters 0.02020185050873627 Centerline is valid? [True, True] Translation: X:-59.93, Y:4.63, Z:-3.52 [[ 9.85242146e-01 1.45520599e-01 -9.01203025e-02 -5.99268670e+01] [-1.45112869e-01 9.89352894e-01 1.10953010e-02 4.63223978e+00] [ 9.07753770e-02 2.14605748e-03 9.95869080e-01 -3.52183783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455347069999995 meters 0.017356605763598723 Centerline is valid? [True, True] Translation: X:-59.99, Y:4.64, Z:-3.54 [[ 9.85312688e-01 1.42126468e-01 -9.46518589e-02 -5.99871450e+01] [-1.41663868e-01 9.89846575e-01 1.16235608e-02 4.63782138e+00] [ 9.53428339e-02 1.95590647e-03 9.95442574e-01 -3.54194622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51534707 meters 0.017003219464821407 Centerline is valid? [True, True] Translation: X:-60.05, Y:4.64, Z:-3.55 [[ 9.86261359e-01 1.35452411e-01 -9.45577953e-02 -6.00491810e+01] [-1.34962279e-01 9.90782959e-01 1.15893090e-02 4.64181141e+00] [ 9.52560521e-02 1.33164790e-03 9.95451913e-01 -3.54758790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57534706999999 meters 0.01682516457505602 Centerline is valid? [True, True] Translation: X:-60.11, Y:4.65, Z:-3.56 [[ 9.86928549e-01 1.30486826e-01 -9.45792079e-02 -6.01106193e+01] [-1.29975154e-01 9.91449664e-01 1.15768504e-02 4.65155460e+00] [ 9.52811504e-02 8.67422937e-04 9.95450024e-01 -3.55709342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635347069999995 meters 0.016925792273728923 Centerline is valid? [True, True] Translation: X:-60.17, Y:4.66, Z:-3.56 [[ 9.86906727e-01 1.30020569e-01 -9.54450819e-02 -6.01722215e+01] [-1.29500092e-01 9.91510925e-01 1.16538557e-02 4.66181152e+00] [ 9.61500823e-02 8.58878247e-04 9.95366477e-01 -3.55758578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69534707 meters 0.016884617296699073 Centerline is valid? [True, True] Translation: X:-60.23, Y:4.67, Z:-3.56 [[ 9.86670133e-01 1.31660297e-01 -9.56431654e-02 -6.02324287e+01] [-1.31148097e-01 9.91294338e-01 1.16495186e-02 4.67434131e+00] [ 9.63443074e-02 1.04918705e-03 9.95347514e-01 -3.56455931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75534706999999 meters 0.017239730852408923 Centerline is valid? [True, True] Translation: X:-60.29, Y:4.68, Z:-3.57 [[ 9.86854750e-01 1.29471625e-01 -9.67202201e-02 -6.02940670e+01] [-1.28940124e-01 9.91582742e-01 1.17519902e-02 4.68290359e+00] [ 9.74276503e-02 8.73609882e-04 9.95242227e-01 -3.56879884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815347069999994 meters 0.016997282377879706 Centerline is valid? [True, True] Translation: X:-60.36, Y:4.69, Z:-3.57 [[ 9.87423302e-01 1.25517718e-01 -9.61276481e-02 -6.03554380e+01] [-1.24976484e-01 9.92091249e-01 1.16546903e-02 4.68748390e+00] [ 9.68302686e-02 5.05582665e-04 9.95300780e-01 -3.57385471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87534707 meters 0.017371678422087714 Centerline is valid? [True, True] Translation: X:-60.42, Y:4.69, Z:-3.58 [[ 9.87929642e-01 1.20705079e-01 -9.70840120e-02 -6.04167537e+01] [-1.20131115e-01 9.92688411e-01 1.17572783e-02 4.69433606e+00] [ 9.77933368e-02 4.74468252e-05 9.95206743e-01 -3.58129442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93534706999999 meters 0.01747565562019435 Centerline is valid? [True, True] Translation: X:-60.48, Y:4.70, Z:-3.58 [[ 9.88153422e-01 1.18261440e-01 -9.78112804e-02 -6.04787206e+01] [-1.17667720e-01 9.92982476e-01 1.18368406e-02 4.70044512e+00] [ 9.85247291e-02 -1.87384103e-04 9.95134585e-01 -3.58416420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995347069999994 meters 0.01800766770358786 Centerline is valid? [True, True] Translation: X:-60.54, Y:4.71, Z:-3.59 [[ 9.88460469e-01 1.16087602e-01 -9.73117150e-02 -6.05399640e+01] [-1.15490243e-01 9.93238901e-01 1.17681917e-02 4.70912084e+00] [ 9.80199220e-02 -3.93838689e-04 9.95184375e-01 -3.59159710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055347069999996 meters 0.019021211337087975 Centerline is valid? [True, True] Translation: X:-60.60, Y:4.72, Z:-3.60 [[ 9.88890491e-01 1.10875401e-01 -9.90062761e-02 -6.06016235e+01] [-1.10231774e-01 9.93833891e-01 1.19646731e-02 4.71504775e+00] [ 9.97223806e-02 -9.18113934e-04 9.95014876e-01 -3.59576012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11534706999999 meters 0.01997386665553094 Centerline is valid? [True, True] Translation: X:-60.66, Y:4.72, Z:-3.59 [[ 9.89243378e-01 1.08755328e-01 -9.78254478e-02 -6.06641457e+01] [-1.08117472e-01 9.94067928e-01 1.18138024e-02 4.72194811e+00] [ 9.85299542e-02 -1.11008565e-03 9.95133466e-01 -3.59423035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175347069999994 meters 0.021245408931444998 Centerline is valid? [True, True] Translation: X:-60.72, Y:4.73, Z:-3.60 [[ 9.89947303e-01 1.01918630e-01 -9.80659503e-02 -6.07246072e+01] [-1.01244831e-01 9.94791131e-01 1.18359336e-02 4.72786821e+00] [ 9.87614398e-02 -1.78827995e-03 9.95109532e-01 -3.60285620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235347069999996 meters 0.021447245019491242 Centerline is valid? [True, True] Translation: X:-60.79, Y:4.73, Z:-3.61 [[ 9.90166503e-01 9.92658337e-02 -9.85727650e-02 -6.07859351e+01] [-9.85724780e-02 9.95058822e-01 1.18914955e-02 4.73494310e+00] [ 9.92661186e-02 -2.05799882e-03 9.95058793e-01 -3.61424857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29534707 meters 0.022538995415235248 Centerline is valid? [True, True] Translation: X:-60.85, Y:4.75, Z:-3.62 [[ 9.90419437e-01 9.59043602e-02 -9.93563937e-02 -6.08464356e+01] [-9.51838041e-02 9.95387644e-01 1.19783483e-02 4.74762664e+00] [ 1.00046903e-01 -2.40646946e-03 9.94979812e-01 -3.62041171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35534706999999 meters 0.022790075398175614 Centerline is valid? [True, True] Translation: X:-60.91, Y:4.76, Z:-3.62 [[ 9.90501307e-01 9.50045285e-02 -9.94047339e-02 -6.09075397e+01] [-9.42794524e-02 9.95473722e-01 1.19772045e-02 4.75824446e+00] [ 1.00092689e-01 -2.49161288e-03 9.94974997e-01 -3.61973572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415347069999996 meters 0.02254633400695037 Centerline is valid? [True, True] Translation: X:-60.97, Y:4.77, Z:-3.63 [[ 9.90805232e-01 8.97646064e-02 -1.01228983e-01 -6.09661791e+01] [-8.89858832e-02 9.95958273e-01 1.21914071e-02 4.77302596e+00] [ 1.01914200e-01 -3.07135950e-03 9.94788451e-01 -3.62504854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47534707 meters 0.024920697728748324 Centerline is valid? [True, True] Translation: X:-61.02, Y:4.78, Z:-3.63 [[ 9.91182869e-01 8.63890042e-02 -1.00466218e-01 -6.10239483e+01] [-8.56035518e-02 9.96255666e-01 1.21111443e-02 4.77644687e+00] [ 1.01136308e-01 -3.40409364e-03 9.94866755e-01 -3.63485155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53534706999999 meters 0.0278367686639804 Centerline is valid? [True, True] Translation: X:-61.08, Y:4.78, Z:-3.64 [[ 9.91774414e-01 8.05881790e-02 -9.94437416e-02 -6.10838086e+01] [-7.97874178e-02 9.96739550e-01 1.20098640e-02 4.78228193e+00] [ 1.00087363e-01 -3.97671649e-03 9.94970706e-01 -3.63630744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595347069999995 meters 0.026304383475934924 Centerline is valid? [True, True] Translation: X:-61.14, Y:4.80, Z:-3.64 [[ 9.91843562e-01 7.89541891e-02 -1.00062901e-01 -6.11402922e+01] [-7.81345721e-02 9.96869511e-01 1.20899109e-02 4.79500690e+00] [ 1.00704204e-01 -4.17292836e-03 9.94907659e-01 -3.64424283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65534707 meters 0.028754135301758372 Centerline is valid? [True, True] Translation: X:-61.20, Y:4.80, Z:-3.65 [[ 9.92275615e-01 7.27047222e-02 -1.00514319e-01 -6.11998483e+01] [-7.18448868e-02 9.97341778e-01 1.21527733e-02 4.80092404e+00] [ 1.01130693e-01 -4.83746071e-03 9.94861388e-01 -3.64626872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71534706999999 meters 0.026940062283509834 Centerline is valid? [True, True] Translation: X:-61.26, Y:4.82, Z:-3.65 [[ 9.92389604e-01 7.14592248e-02 -1.00281866e-01 -6.12556915e+01] [-7.05964421e-02 9.97431195e-01 1.21306555e-02 4.81690231e+00] [ 1.00891109e-01 -4.95879349e-03 9.94885116e-01 -3.64880688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775347069999995 meters 0.030774719015167207 Centerline is valid? [True, True] Translation: X:-61.31, Y:4.82, Z:-3.66 [[ 9.92538831e-01 6.94886552e-02 -1.00189803e-01 -6.13144543e+01] [-6.86163734e-02 9.97569370e-01 1.21303659e-02 4.81645385e+00] [ 1.00789201e-01 -5.16519824e-03 9.94894395e-01 -3.66126342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83534707 meters 0.030063335438868917 Centerline is valid? [True, True] Translation: X:-61.37, Y:4.83, Z:-3.67 [[ 9.92490044e-01 6.89682815e-02 -1.01029150e-01 -6.13710054e+01] [-6.80768316e-02 9.97604884e-01 1.22491072e-02 4.83068465e+00] [ 1.01631973e-01 -5.27937254e-03 9.94808057e-01 -3.66566559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89534706999999 meters 0.028838431133466166 Centerline is valid? [True, True] Translation: X:-61.43, Y:4.84, Z:-3.67 [[ 9.92318846e-01 7.17761022e-02 -1.00754644e-01 -6.14290181e+01] [-7.09016509e-02 9.97408236e-01 1.22379572e-02 4.84432971e+00] [ 1.01371905e-01 -5.00028493e-03 9.94836034e-01 -3.66823326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955347069999995 meters 0.028662499458403892 Centerline is valid? [True, True] Translation: X:-61.49, Y:4.86, Z:-3.68 [[ 9.92087228e-01 7.68795103e-02 -9.92596200e-02 -6.14871208e+01] [-7.60558263e-02 9.97030608e-01 1.20614106e-02 4.85699564e+00] [ 9.98921546e-02 -4.41669904e-03 9.94988467e-01 -3.67855291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01534707 meters 0.02840997752471438 Centerline is valid? [True, True] Translation: X:-61.55, Y:4.87, Z:-3.69 [[ 9.91878362e-01 7.96606738e-02 -9.91538796e-02 -6.15451273e+01] [-7.88522946e-02 9.96813462e-01 1.20514421e-02 4.86920121e+00] [ 9.97979480e-02 -4.13505375e-03 9.94999131e-01 -3.68898210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07534706999999 meters 0.02608374084026088 Centerline is valid? [True, True] Translation: X:-61.60, Y:4.88, Z:-3.69 [[ 9.91599921e-01 8.27115885e-02 -9.94403856e-02 -6.16022879e+01] [-8.19132170e-02 9.96566109e-01 1.20919326e-02 4.88199537e+00] [ 1.00099061e-01 -3.84487755e-03 9.94970047e-01 -3.68994363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135347069999995 meters 0.0265663579866679 Centerline is valid? [True, True] Translation: X:-61.66, Y:4.89, Z:-3.70 [[ 9.91428612e-01 8.56273204e-02 -9.86776038e-02 -6.16612557e+01] [-8.48549747e-02 9.96320986e-01 1.20052214e-02 4.89020212e+00] [ 9.93425425e-02 -3.52903441e-03 9.95047037e-01 -3.69838810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19534707 meters 0.02601778574984419 Centerline is valid? [True, True] Translation: X:-61.72, Y:4.90, Z:-3.70 [[ 9.91430031e-01 8.53593131e-02 -9.88953092e-02 -6.17234164e+01] [-8.45823832e-02 9.96343866e-01 1.20300271e-02 4.89599243e+00] [ 9.95606095e-02 -3.56212916e-03 9.95025123e-01 -3.70311400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25534706999999 meters 0.023669892788022937 Centerline is valid? [True, True] Translation: X:-61.78, Y:4.91, Z:-3.71 [[ 9.91265579e-01 8.79038425e-02 -9.83131080e-02 -6.17820198e+01] [-8.71490777e-02 9.96123560e-01 1.19537216e-02 4.90948769e+00] [ 9.89827811e-02 -3.28141602e-03 9.95083736e-01 -3.70726865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315347069999994 meters 0.024669493519447146 Centerline is valid? [True, True] Translation: X:-61.84, Y:4.92, Z:-3.71 [[ 9.91400227e-01 8.72602800e-02 -9.75255558e-02 -6.18436339e+01] [-8.65147965e-02 9.96180029e-01 1.18549382e-02 4.91653674e+00] [ 9.81874763e-02 -3.31558484e-03 9.95162412e-01 -3.70626056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37534707 meters 0.026007300525555128 Centerline is valid? [True, True] Translation: X:-61.90, Y:4.92, Z:-3.73 [[ 9.91386033e-01 8.60102458e-02 -9.87723167e-02 -6.19039472e+01] [-8.52401048e-02 9.96288189e-01 1.19987326e-02 4.91607214e+00] [ 9.94377065e-02 -3.47601330e-03 9.95037718e-01 -3.72716428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43534706999999 meters 0.02454425281006767 Centerline is valid? [True, True] Translation: X:-61.96, Y:4.92, Z:-3.73 [[ 9.91001188e-01 9.22973047e-02 -9.69425278e-02 -6.19639580e+01] [-9.15858524e-02 9.95727590e-01 1.17727926e-02 4.92399146e+00] [ 9.76149465e-02 -2.78828737e-03 9.95220351e-01 -3.73433336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495347069999994 meters 0.023633708522063267 Centerline is valid? [True, True] Translation: X:-62.03, Y:4.93, Z:-3.74 [[ 9.90718203e-01 9.58044978e-02 -9.64310163e-02 -6.20254425e+01] [-9.51175007e-02 9.95397214e-01 1.17067198e-02 4.93326599e+00] [ 9.71087214e-02 -2.42578312e-03 9.95270823e-01 -3.73942435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555347069999996 meters 0.023658679625228808 Centerline is valid? [True, True] Translation: X:-62.09, Y:4.94, Z:-3.75 [[ 9.90405151e-01 9.69446979e-02 -9.84853458e-02 -6.20861392e+01] [-9.62344676e-02 9.95286982e-01 1.19478026e-02 4.94265306e+00] [ 9.91794587e-02 -2.35548041e-03 9.95066775e-01 -3.75083746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61534706999999 meters 0.021889637042727464 Centerline is valid? [True, True] Translation: X:-62.15, Y:4.95, Z:-3.75 [[ 9.89992087e-01 1.02836124e-01 -9.66457455e-02 -6.21473975e+01] [-1.02180888e-01 9.94696815e-01 1.17179981e-02 4.95123320e+00] [ 9.73382488e-02 -1.72537736e-03 9.95249862e-01 -3.74771880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675347069999994 meters 0.02150614489134014 Centerline is valid? [True, True] Translation: X:-62.21, Y:4.96, Z:-3.76 [[ 9.89787612e-01 1.04360780e-01 -9.71046377e-02 -6.22089880e+01] [-1.03707140e-01 9.94538254e-01 1.17681911e-02 4.95997163e+00] [ 9.78024144e-02 -1.57756555e-03 9.95204602e-01 -3.75665216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735347069999996 meters 0.021417483760066802 Centerline is valid? [True, True] Translation: X:-62.27, Y:4.96, Z:-3.76 [[ 9.89416341e-01 1.07518256e-01 -9.74429487e-02 -6.22706213e+01] [-1.06876723e-01 9.94202318e-01 1.17948252e-02 4.96419056e+00] [ 9.81461645e-02 -1.25560976e-03 9.95171218e-01 -3.76143891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79534707 meters 0.02104966030118356 Centerline is valid? [True, True] Translation: X:-62.33, Y:4.97, Z:-3.77 [[ 9.89202230e-01 1.09282390e-01 -9.76540227e-02 -6.23322045e+01] [-1.08649345e-01 9.94010184e-01 1.17930012e-02 4.97285782e+00] [ 9.83578604e-02 -1.05561752e-03 9.95150550e-01 -3.76841441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85534706999999 meters 0.020647519148546362 Centerline is valid? [True, True] Translation: X:-62.39, Y:4.98, Z:-3.77 [[ 9.89017264e-01 1.10667080e-01 -9.79675912e-02 -6.23942082e+01] [-1.10039707e-01 9.93857134e-01 1.18008137e-02 4.98345071e+00] [ 9.86717511e-02 -8.90883493e-04 9.95119637e-01 -3.77302840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915347069999996 meters 0.020027548213428403 Centerline is valid? [True, True] Translation: X:-62.46, Y:4.99, Z:-3.78 [[ 9.88462923e-01 1.14559745e-01 -9.90813555e-02 -6.24553304e+01] [-1.13940697e-01 9.93416246e-01 1.19029175e-02 4.99284446e+00] [ 9.97926234e-02 -4.76193894e-04 9.95008143e-01 -3.77877582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97534707 meters 0.01942590520271202 Centerline is valid? [True, True] Translation: X:-62.52, Y:5.00, Z:-3.79 [[ 9.87893759e-01 1.18962989e-01 -9.95677027e-02 -6.25172400e+01] [-1.18363263e-01 9.92898689e-01 1.19302491e-02 5.00467149e+00] [ 1.00279900e-01 -6.60468733e-07 9.94959266e-01 -3.78582976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03534707 meters 0.019253611550935575 Centerline is valid? [True, True] Translation: X:-62.58, Y:5.02, Z:-3.79 [[ 9.87219412e-01 1.24218342e-01 -9.98380456e-02 -6.25783628e+01] [-1.23645414e-01 9.92254747e-01 1.19301865e-02 5.01612076e+00] [ 1.00546723e-01 5.66804782e-04 9.94932176e-01 -3.79283235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09534707 meters 0.019830968809378565 Centerline is valid? [True, True] Translation: X:-62.64, Y:5.03, Z:-3.80 [[ 9.86785211e-01 1.27072362e-01 -1.00536371e-01 -6.26396890e+01] [-1.26509157e-01 9.91893047e-01 1.19839947e-02 5.02938701e+00] [ 1.01244162e-01 8.93142753e-04 9.94861207e-01 -3.79865184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15534707 meters 0.019539779723747933 Centerline is valid? [True, True] Translation: X:-62.70, Y:5.04, Z:-3.80 [[ 9.86031320e-01 1.32099952e-01 -1.01448699e-01 -6.27013141e+01] [-1.31556079e-01 9.91235337e-01 1.20625102e-02 5.04131072e+00] [ 1.02152992e-01 1.45218028e-03 9.94767640e-01 -3.80172064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21534707 meters 0.019544187334671368 Centerline is valid? [True, True] Translation: X:-62.76, Y:5.05, Z:-3.81 [[ 9.85981258e-01 1.31097922e-01 -1.03219637e-01 -6.27622598e+01] [-1.30532662e-01 9.91368431e-01 1.22416874e-02 5.05123755e+00] [ 1.03933549e-01 1.40345954e-03 9.94583253e-01 -3.81359373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27534707 meters 0.021830810486055254 Centerline is valid? [True, True] Translation: X:-62.82, Y:5.06, Z:-3.82 [[ 9.86367353e-01 1.29306622e-01 -1.01780361e-01 -6.28240167e+01] [-1.28750646e-01 9.91603898e-01 1.20407999e-02 5.06037350e+00] [ 1.02482758e-01 1.22763523e-03 9.94734023e-01 -3.81520394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33534707 meters 0.019053066315869324 Centerline is valid? [True, True] Translation: X:-62.89, Y:5.06, Z:-3.83 [[ 9.86884453e-01 1.24568889e-01 -1.02672623e-01 -6.28865397e+01] [-1.23980768e-01 9.92210660e-01 1.21150803e-02 5.06122883e+00] [ 1.03382033e-01 7.73246234e-04 9.94641421e-01 -3.82569655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39534707 meters 0.019329572347688957 Centerline is valid? [True, True] Translation: X:-62.95, Y:5.06, Z:-3.84 [[ 9.87376565e-01 1.19839956e-01 -1.03565939e-01 -6.29474303e+01] [-1.19218865e-01 9.92793175e-01 1.21891148e-02 5.06482867e+00] [ 1.04280301e-01 3.11767391e-04 9.94547898e-01 -3.83756872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45534707 meters 0.019608945557640572 Centerline is valid? [True, True] Translation: X:-63.01, Y:5.07, Z:-3.84 [[ 9.88248961e-01 1.12002606e-01 -1.04016383e-01 -6.30099141e+01] [-1.11335890e-01 9.93707793e-01 1.22123611e-02 5.06970767e+00] [ 1.04729707e-01 -4.88096618e-04 9.94500603e-01 -3.84256282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51534707 meters 0.020213654957468935 Centerline is valid? [True, True] Translation: X:-63.07, Y:5.08, Z:-3.85 [[ 9.88622443e-01 1.08301547e-01 -1.04386019e-01 -6.30707739e+01] [-1.07612818e-01 9.94117724e-01 1.22242521e-02 5.07891220e+00] [ 1.05095897e-01 -8.51896421e-04 9.94461727e-01 -3.84955399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57534707 meters 0.02055006735013864 Centerline is valid? [True, True] Translation: X:-63.13, Y:5.09, Z:-3.86 [[ 9.88972799e-01 1.04319894e-01 -1.05119754e-01 -6.31325192e+01] [-1.03602376e-01 9.94543006e-01 1.22782795e-02 5.08868045e+00] [ 1.05826985e-01 -1.25222814e-03 9.94383770e-01 -3.85541534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63534707000001 meters 0.023645031092453816 Centerline is valid? [True, True] Translation: X:-63.19, Y:5.10, Z:-3.87 [[ 9.89497244e-01 9.80361036e-02 -1.06226773e-01 -6.31916916e+01] [-9.72695749e-02 9.95181001e-01 1.23856863e-02 5.10066217e+00] [ 1.06929111e-01 -1.92296941e-03 9.94264787e-01 -3.87442828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69534707 meters 0.02534298158320566 Centerline is valid? [True, True] Translation: X:-63.25, Y:5.11, Z:-3.87 [[ 9.89916064e-01 9.33761326e-02 -1.06522694e-01 -6.32530122e+01] [-9.25788987e-02 9.95627942e-01 1.24156430e-02 5.10707022e+00] [ 1.07216296e-01 -2.42869069e-03 9.94232753e-01 -3.86820997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75534707 meters 0.02188052643743174 Centerline is valid? [True, True] Translation: X:-63.31, Y:5.12, Z:-3.88 [[ 9.89808510e-01 9.08579888e-02 -1.09653728e-01 -6.33120428e+01] [-8.99981635e-02 9.95859988e-01 1.27755574e-02 5.12057313e+00] [ 1.10360522e-01 -2.77672133e-03 9.93887743e-01 -3.87626088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81534707 meters 0.025741494449876577 Centerline is valid? [True, True] Translation: X:-63.37, Y:5.13, Z:-3.90 [[ 9.90287781e-01 8.75953093e-02 -1.07968390e-01 -6.33726039e+01] [-8.67433205e-02 9.96151369e-01 1.25716146e-02 5.12684673e+00] [ 1.08654074e-01 -3.08397964e-03 9.94074837e-01 -3.89701122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87534707 meters 0.024046955017625122 Centerline is valid? [True, True] Translation: X:-63.43, Y:5.13, Z:-3.89 [[ 9.90567613e-01 8.52098848e-02 -1.07308340e-01 -6.34345037e+01] [-8.43555177e-02 9.96357511e-01 1.24842573e-02 5.13477172e+00] [ 1.07981253e-01 -3.31445041e-03 9.94147405e-01 -3.88962140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93534707 meters 0.026763523023137895 Centerline is valid? [True, True] Translation: X:-63.50, Y:5.13, Z:-3.90 [[ 9.90939861e-01 8.31602098e-02 -1.05463603e-01 -6.34969042e+01] [-8.23245538e-02 9.96530161e-01 1.22599201e-02 5.13322270e+00] [ 1.06117198e-01 -3.46659952e-03 9.94347587e-01 -3.90262428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99534707000001 meters 0.02685803700014111 Centerline is valid? [True, True] Translation: X:-63.56, Y:5.14, Z:-3.90 [[ 9.91254031e-01 7.94305582e-02 -1.05386110e-01 -6.35579079e+01] [-7.85763354e-02 9.96832960e-01 1.22396513e-02 5.13613184e+00] [ 1.06024550e-01 -3.85174942e-03 9.94356052e-01 -3.89884614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05534707 meters 0.02836330981770997 Centerline is valid? [True, True] Translation: X:-63.62, Y:5.14, Z:-3.91 [[ 9.91514249e-01 7.62899625e-02 -1.05258424e-01 -6.36188171e+01] [-7.54212598e-02 9.97076944e-01 1.22147846e-02 5.13577688e+00] [ 1.05882613e-01 -4.17241005e-03 9.94369883e-01 -3.91339726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11534707 meters 0.029454664162601975 Centerline is valid? [True, True] Translation: X:-63.68, Y:5.13, Z:-3.91 [[ 9.91921074e-01 7.01190437e-02 -1.05716140e-01 -6.36789086e+01] [-6.92080007e-02 9.97526836e-01 1.22663716e-02 5.13284668e+00] [ 1.06314793e-01 -4.85086985e-03 9.94320690e-01 -3.90942787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17534707 meters 0.029826757420128525 Centerline is valid? [True, True] Translation: X:-63.74, Y:5.13, Z:-3.91 [[ 9.92301462e-01 6.64424314e-02 -1.04514168e-01 -6.37380830e+01] [-6.55303493e-02 9.97776720e-01 1.21404575e-02 5.13420038e+00] [ 1.05088445e-01 -5.19814377e-03 9.94449294e-01 -3.91046803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23534707 meters 0.033120201503864626 Centerline is valid? [True, True] Translation: X:-63.80, Y:5.13, Z:-3.92 [[ 9.92715418e-01 6.30168955e-02 -1.02688706e-01 -6.37964914e+01] [-6.21160085e-02 9.97997389e-01 1.19504648e-02 5.13309674e+00] [ 1.03236142e-01 -5.48479805e-03 9.94641753e-01 -3.92079499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29534707 meters 0.0303522292713251 Centerline is valid? [True, True] Translation: X:-63.86, Y:5.14, Z:-3.92 [[ 9.92721239e-01 7.21053944e-02 -9.64642599e-02 -6.38567020e+01] [-7.13529452e-02 9.97387891e-01 1.12317562e-02 5.14247121e+00] [ 9.70221550e-02 -4.26699388e-03 9.95273075e-01 -3.91759878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35534707000001 meters 0.028817459115201997 Centerline is valid? [True, True] Translation: X:-63.92, Y:5.15, Z:-3.92 [[ 9.92576839e-01 7.57731070e-02 -9.51296774e-02 -6.39168236e+01] [-7.50582252e-02 9.97117640e-01 1.10758887e-02 5.15302326e+00] [ 9.56947339e-02 -3.85340585e-03 9.95403270e-01 -3.92337539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41534707 meters 0.026569070681126707 Centerline is valid? [True, True] Translation: X:-63.98, Y:5.17, Z:-3.92 [[ 9.92253920e-01 8.18912344e-02 -9.34129709e-02 -6.39761976e+01] [-8.12291448e-02 9.96636127e-01 1.08745640e-02 5.16662050e+00] [ 9.39892730e-02 -3.20247305e-03 9.95568059e-01 -3.92347032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47534707 meters 0.02305171934360715 Centerline is valid? [True, True] Translation: X:-64.04, Y:5.19, Z:-3.93 [[ 9.91409075e-01 9.40641219e-02 -9.08844655e-02 -6.40354463e+01] [-9.34885432e-02 9.95564149e-01 1.05791151e-02 5.18607398e+00] [ 9.14764307e-02 -1.99157446e-03 9.95805250e-01 -3.92844855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53534707 meters 0.020228118013779217 Centerline is valid? [True, True] Translation: X:-64.09, Y:5.20, Z:-3.93 [[ 9.90302749e-01 1.05018119e-01 -9.09486675e-02 -6.40938909e+01] [-1.04488178e-01 9.94469829e-01 1.05820304e-02 5.20299876e+00] [ 9.15570107e-02 -9.76353264e-04 9.95799358e-01 -3.93015413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59534707 meters 0.02009767186638642 Centerline is valid? [True, True] Translation: X:-64.15, Y:5.22, Z:-3.94 [[ 9.89698367e-01 1.13388519e-01 -8.74081530e-02 -6.41540583e+01] [-1.12932769e-01 9.93550709e-01 1.01577112e-02 5.21716736e+00] [ 8.79962002e-02 -1.81825524e-04 9.96120794e-01 -3.93855726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65534707 meters 0.020249322091442045 Centerline is valid? [True, True] Translation: X:-64.22, Y:5.22, Z:-3.94 [[ 9.89613824e-01 1.16242332e-01 -8.45706776e-02 -6.42163841e+01] [-1.15828135e-01 9.93220878e-01 9.80466987e-03 5.21861128e+00] [ 8.51370803e-02 9.28269822e-05 9.96369243e-01 -3.93959022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71534707 meters 0.025225991108334032 Centerline is valid? [True, True] Translation: X:-64.28, Y:5.22, Z:-3.93 [[ 9.89477510e-01 1.18715653e-01 -8.27094403e-02 -6.42793430e+01] [-1.18330081e-01 9.92928240e-01 9.56566077e-03 5.22090519e+00] [ 8.32601327e-02 3.22008608e-04 9.96527795e-01 -3.92622463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77534707 meters 0.02627280798722706 Centerline is valid? [True, True] Translation: X:-64.34, Y:5.23, Z:-3.93 [[ 9.88644424e-01 1.26303593e-01 -8.14223881e-02 -6.43410798e+01] [-1.25957458e-01 9.91991162e-01 9.39433913e-03 5.23051487e+00] [ 8.19568282e-02 9.68096024e-04 9.96635410e-01 -3.92889530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83534707 meters 0.02533701929537234 Centerline is valid? [True, True] Translation: X:-64.40, Y:5.24, Z:-3.94 [[ 9.87509954e-01 1.36055600e-01 -7.94541698e-02 -6.44010085e+01] [-1.35759072e-01 9.90699651e-01 9.14742450e-03 5.24257939e+00] [ 7.99597767e-02 1.75345159e-03 9.96796549e-01 -3.93721945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89534707 meters 0.02454207840747623 Centerline is valid? [True, True] Translation: X:-64.46, Y:5.25, Z:-3.94 [[ 9.86100149e-01 1.46581976e-01 -7.82318427e-02 -6.44599558e+01] [-1.46327730e-01 9.89195191e-01 9.00387564e-03 5.25410455e+00] [ 7.87063685e-02 2.56876483e-03 9.96894533e-01 -3.94044123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95534707 meters 0.030853186351295046 Centerline is valid? [True, True] Translation: X:-64.52, Y:5.26, Z:-3.94 [[ 9.84332146e-01 1.59253509e-01 -7.56871595e-02 -6.45206052e+01] [-1.59052832e-01 9.87231645e-01 8.71069976e-03 5.26370365e+00] [ 7.61079685e-02 3.46403531e-03 9.97093565e-01 -3.93754897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01534707 meters 0.02903751994695069 Centerline is valid? [True, True] Translation: X:-64.58, Y:5.27, Z:-3.95 [[ 9.83926407e-01 1.62339778e-01 -7.43950353e-02 -6.45812888e+01] [-1.62154848e-01 9.86728198e-01 8.55969694e-03 5.26817896e+00] [ 7.47972584e-02 3.64140381e-03 9.97192113e-01 -3.94802692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07534707 meters 0.029428548874833173 Centerline is valid? [True, True] Translation: X:-64.64, Y:5.27, Z:-3.95 [[ 9.83551738e-01 1.65047607e-01 -7.33843652e-02 -6.46434974e+01] [-1.64875434e-01 9.86278288e-01 8.43983576e-03 5.26761154e+00] [ 7.37703807e-02 3.79826390e-03 9.97268020e-01 -3.95064368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13534707000001 meters 0.02701967430501624 Centerline is valid? [True, True] Translation: X:-64.71, Y:5.26, Z:-3.95 [[ 9.84904327e-01 1.57063219e-01 -7.27640867e-02 -6.47058502e+01] [-1.56872552e-01 9.87583440e-01 8.36373090e-03 5.25592859e+00] [ 7.31742416e-02 3.17721322e-03 9.97314111e-01 -3.95479890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19534707 meters 0.02279353823286052 Centerline is valid? [True, True] Translation: X:-64.77, Y:5.23, Z:-3.96 [[ 9.87543979e-01 1.39695176e-01 -7.24026714e-02 -6.47694663e+01] [-1.39459870e-01 9.90192769e-01 8.32011421e-03 5.23419063e+00] [ 7.28548815e-02 1.88078843e-03 9.97340779e-01 -3.95963180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25534707 meters 0.020556394596935628 Centerline is valid? [True, True] Translation: X:-64.83, Y:5.22, Z:-3.96 [[ 9.90151993e-01 1.21203877e-01 -7.00617659e-02 -6.48325033e+01] [-1.20937403e-01 9.92627506e-01 8.04849871e-03 5.21510272e+00] [ 7.05207452e-02 5.03850969e-04 9.97510186e-01 -3.96261218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31534707 meters 0.021741538039636597 Centerline is valid? [True, True] Translation: X:-64.90, Y:5.19, Z:-3.97 [[ 9.92384226e-01 1.02084646e-01 -6.89367294e-02 -6.48974505e+01] [-1.01780716e-01 9.94775362e-01 7.91614222e-03 5.19202165e+00] [ 6.93846765e-02 -8.39424961e-04 9.97589626e-01 -3.97330051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37534707 meters 0.02210719132009446 Centerline is valid? [True, True] Translation: X:-64.96, Y:5.19, Z:-3.97 [[ 9.93218087e-01 9.44218743e-02 -6.78405612e-02 -6.49601896e+01] [-9.41111990e-02 9.95531385e-01 7.76812969e-03 5.18801673e+00] [ 6.82708892e-02 -1.33089036e-03 9.97665933e-01 -3.97417180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43534707 meters 0.022925544628991833 Centerline is valid? [True, True] Translation: X:-65.02, Y:5.19, Z:-3.98 [[ 9.93383454e-01 9.37343188e-02 -6.63565392e-02 -6.50223239e+01] [-9.34370368e-02 9.95596364e-01 7.57635235e-03 5.18703445e+00] [ 6.67744934e-02 -1.32606467e-03 9.97767212e-01 -3.97947331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49534707000001 meters 0.02388469719896957 Centerline is valid? [True, True] Translation: X:-65.08, Y:5.20, Z:-3.98 [[ 9.92780553e-01 1.00942507e-01 -6.47872174e-02 -6.50828251e+01] [-1.00674860e-01 9.94891927e-01 7.39100312e-03 5.19700976e+00] [ 6.52023460e-02 -8.15200140e-04 9.97871730e-01 -3.98093578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55534707 meters 0.022746728565885162 Centerline is valid? [True, True] Translation: X:-65.14, Y:5.21, Z:-3.98 [[ 9.91533931e-01 1.14117562e-01 -6.19487280e-02 -6.51444623e+01] [-1.13899713e-01 9.93467250e-01 7.04825497e-03 5.20760613e+00] [ 6.23483621e-02 6.73583776e-05 9.98054446e-01 -3.98171689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61534707 meters 0.02421070142770849 Centerline is valid? [True, True] Translation: X:-65.21, Y:5.22, Z:-3.98 [[ 9.90587037e-01 1.21820545e-01 -6.24265787e-02 -6.52062597e+01] [-1.21616004e-01 9.92551973e-01 7.08007563e-03 5.21807449e+00] [ 6.28241226e-02 5.78639930e-04 9.98024446e-01 -3.98335850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67534707 meters 0.0247440972717023 Centerline is valid? [True, True] Translation: X:-65.27, Y:5.23, Z:-3.99 [[ 9.89546005e-01 1.29760327e-01 -6.29361671e-02 -6.52674403e+01] [-1.29569852e-01 9.91544764e-01 7.11583495e-03 5.22739018e+00] [ 6.33273800e-02 1.11318379e-03 9.97992186e-01 -3.99144577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73534707 meters 0.02579370099706043 Centerline is valid? [True, True] Translation: X:-65.33, Y:5.23, Z:-4.00 [[ 9.89297023e-01 1.31831242e-01 -6.25453757e-02 -6.53298475e+01] [-1.31648599e-01 9.91271375e-01 7.05039527e-03 5.23109106e+00] [ 6.29289030e-02 1.25907602e-03 9.98017218e-01 -3.99537930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79534707 meters 0.025670534607879596 Centerline is valid? [True, True] Translation: X:-65.39, Y:5.22, Z:-4.01 [[ 9.90215109e-01 1.23336699e-01 -6.52847401e-02 -6.53913666e+01] [-1.23120708e-01 9.92364581e-01 7.33686892e-03 5.22040352e+00] [ 6.56911690e-02 7.72824999e-04 9.97839703e-01 -4.00775837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85534707000001 meters 0.0262333583005681 Centerline is valid? [True, True] Translation: X:-65.45, Y:5.21, Z:-4.02 [[ 9.91291123e-01 1.13231654e-01 -6.72346748e-02 -6.54549294e+01] [-1.12979578e-01 9.93568609e-01 7.55212681e-03 5.21045390e+00] [ 6.76574021e-02 1.09788886e-04 9.97708607e-01 -4.01781110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91534707 meters 0.026498618239654558 Centerline is valid? [True, True] Translation: X:-65.52, Y:5.20, Z:-4.02 [[ 9.92074537e-01 1.05602704e-01 -6.80895168e-02 -6.55179367e+01] [-1.05327830e-01 9.94408324e-01 7.62452326e-03 5.20150234e+00] [ 6.85139525e-02 -3.92374326e-04 9.97650081e-01 -4.02161951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97534707 meters 0.0220768572518012 Centerline is valid? [True, True] Translation: X:-65.58, Y:5.18, Z:-4.01 [[ 9.91700151e-01 1.07848736e-01 -6.99961504e-02 -6.55836890e+01] [-1.07565412e-01 9.94167290e-01 7.81542213e-03 5.18485982e+00] [ 7.04307666e-02 -2.21390526e-04 9.97516646e-01 -4.01221421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03534707 meters 0.02031320905069579 Centerline is valid? [True, True] Translation: X:-65.65, Y:5.18, Z:-4.01 [[ 9.91360851e-01 1.10875578e-01 -7.00733138e-02 -6.56480065e+01] [-1.10599938e-01 9.93834295e-01 7.81328705e-03 5.17898323e+00] [ 7.05075651e-02 4.31727785e-06 9.97511245e-01 -4.01027277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09534707 meters 0.02254810493580505 Centerline is valid? [True, True] Translation: X:-65.71, Y:5.17, Z:-4.01 [[ 9.91247851e-01 1.12753240e-01 -6.86615277e-02 -6.57112024e+01] [-1.12493861e-01 9.93623010e-01 7.64496781e-03 5.17400727e+00] [ 6.90856687e-02 1.45942459e-04 9.97610720e-01 -4.00669158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15534707 meters 0.020814540718636313 Centerline is valid? [True, True] Translation: X:-65.77, Y:5.17, Z:-4.01 [[ 9.90953717e-01 1.14165339e-01 -7.05478961e-02 -6.57738302e+01] [-1.13896976e-01 9.93461725e-01 7.82819584e-03 5.17101811e+00] [ 7.09803432e-02 2.77812271e-04 9.97477676e-01 -4.00927840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21534707 meters 0.02045195059547656 Centerline is valid? [True, True] Translation: X:-65.84, Y:5.16, Z:-4.01 [[ 9.91163282e-01 1.13196465e-01 -6.91513466e-02 -6.58374070e+01] [-1.12936780e-01 9.93572602e-01 7.66603856e-03 5.16153717e+00] [ 6.95746518e-02 2.11434495e-04 9.97576725e-01 -4.00644702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27534707 meters 0.021492817036463528 Centerline is valid? [True, True] Translation: X:-65.90, Y:5.16, Z:-4.01 [[ 9.91030157e-01 1.14215664e-01 -6.93830684e-02 -6.59008085e+01] [-1.13957208e-01 9.93455936e-01 7.68486408e-03 5.15777557e+00] [ 6.98067530e-02 2.90768707e-04 9.97560491e-01 -4.00608914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33534707 meters 0.02236476040118247 Centerline is valid? [True, True] Translation: X:-65.96, Y:5.15, Z:-4.01 [[ 9.90955099e-01 1.15072487e-01 -6.90385038e-02 -6.59641046e+01] [-1.14819184e-01 9.93357033e-01 7.63934947e-03 5.15355182e+00] [ 6.94589622e-02 3.56692330e-04 9.97584746e-01 -4.00648626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39534707 meters 0.023521195037546423 Centerline is valid? [True, True] Translation: X:-66.03, Y:5.15, Z:-4.01 [[ 9.90288089e-01 1.20111142e-01 -7.00201025e-02 -6.60271721e+01] [-1.19864349e-01 9.92760178e-01 7.73093614e-03 5.15478448e+00] [ 7.04417410e-02 7.37060056e-04 9.97515623e-01 -4.00580730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45534707 meters 0.025325419504441286 Centerline is valid? [True, True] Translation: X:-66.09, Y:5.16, Z:-4.01 [[ 9.89581523e-01 1.25763641e-01 -7.00850604e-02 -6.60898102e+01] [-1.25531044e-01 9.92059570e-01 7.73091713e-03 5.15592975e+00] [ 7.05008231e-02 1.14747803e-03 9.97511061e-01 -4.00708603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51534707 meters 0.02751753880513101 Centerline is valid? [True, True] Translation: X:-66.15, Y:5.15, Z:-4.01 [[ 9.89118883e-01 1.29688550e-01 -6.94601720e-02 -6.61515167e+01] [-1.29470282e-01 9.91553759e-01 7.65430383e-03 5.15490594e+00] [ 6.98661702e-02 1.42201159e-03 9.97555360e-01 -4.00704042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57534707 meters 0.02966599427901595 Centerline is valid? [True, True] Translation: X:-66.21, Y:5.16, Z:-4.01 [[ 9.88671156e-01 1.33591304e-01 -6.84303261e-02 -6.62137400e+01] [-1.33390261e-01 9.91035062e-01 7.51951500e-03 5.15590639e+00] [ 6.88213943e-02 1.69361148e-03 9.97627559e-01 -4.00658439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63534707000001 meters 0.03188976921037875 Centerline is valid? [True, True] Translation: X:-66.28, Y:5.16, Z:-4.01 [[ 9.88359039e-01 1.35199332e-01 -6.97678332e-02 -6.62757363e+01] [-1.34994877e-01 9.90816695e-01 7.65894645e-03 5.16006163e+00] [ 7.01626184e-02 1.84851111e-03 9.97533854e-01 -4.00896958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69534707 meters 0.033824517634434725 Centerline is valid? [True, True] Translation: X:-66.34, Y:5.17, Z:-4.01 [[ 9.87821094e-01 1.39150272e-01 -6.96181568e-02 -6.63374118e+01] [-1.38957011e-01 9.90268982e-01 7.63496006e-03 5.16618960e+00] [ 7.00031080e-02 2.13195636e-03 9.97544495e-01 -4.01223032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75534707 meters 0.03985070760947362 Centerline is valid? [True, True] Translation: X:-66.40, Y:5.18, Z:-4.01 [[ 9.87396205e-01 1.41720813e-01 -7.04552735e-02 -6.63989995e+01] [-1.41530033e-01 9.89903876e-01 7.71786687e-03 5.17551093e+00] [ 7.08377307e-02 2.35094472e-03 9.97485082e-01 -4.01468037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81534707 meters 0.04451801090301681 Centerline is valid? [True, True] Translation: X:-66.46, Y:5.18, Z:-4.02 [[ 9.87021148e-01 1.44099582e-01 -7.08841610e-02 -6.64612984e+01] [-1.43914473e-01 9.89559872e-01 7.73846841e-03 5.18106587e+00] [ 7.12592314e-02 2.56322472e-03 9.97454536e-01 -4.01751458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87534707 meters 0.05111462909617601 Centerline is valid? [True, True] Translation: X:-66.52, Y:5.19, Z:-4.02 [[ 9.86936729e-01 1.44621024e-01 -7.09975563e-02 -6.65238249e+01] [-1.44438408e-01 9.89483626e-01 7.72653400e-03 5.18642416e+00] [ 7.13683387e-02 2.62917383e-03 9.97446564e-01 -4.01956413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93534707 meters 0.04631662353010084 Centerline is valid? [True, True] Translation: X:-66.59, Y:5.19, Z:-4.02 [[ 9.86744928e-01 1.45721708e-01 -7.14116992e-02 -6.65854453e+01] [-1.45541639e-01 9.89321800e-01 7.74646606e-03 5.18571613e+00] [ 7.17779791e-02 2.74958963e-03 9.97416844e-01 -4.02196779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99534707000001 meters 0.04350310588823027 Centerline is valid? [True, True] Translation: X:-66.65, Y:5.19, Z:-4.03 [[ 9.87034886e-01 1.44269315e-01 -7.03455586e-02 -6.66471510e+01] [-1.44092629e-01 9.89534970e-01 7.60645425e-03 5.18668614e+00] [ 7.07067682e-02 2.62844081e-03 9.97493681e-01 -4.02701487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05534707 meters 0.0459659476715256 Centerline is valid? [True, True] Translation: X:-66.71, Y:5.19, Z:-4.04 [[ 9.87156051e-01 1.43296746e-01 -7.06326619e-02 -6.67086401e+01] [-1.43117925e-01 9.89676367e-01 7.61230863e-03 5.19454400e+00] [ 7.09942953e-02 2.59426346e-03 9.97473348e-01 -4.03612184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11534707 meters 0.047052514408979604 Centerline is valid? [True, True] Translation: X:-66.77, Y:5.20, Z:-4.04 [[ 9.87181355e-01 1.42622952e-01 -7.16356465e-02 -6.67706751e+01] [-1.42437862e-01 9.89773703e-01 7.71188202e-03 5.20123543e+00] [ 7.20029705e-02 2.59060216e-03 9.97401053e-01 -4.03834696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17534707 meters 0.04729800169758358 Centerline is valid? [True, True] Translation: X:-66.83, Y:5.21, Z:-4.04 [[ 9.87617989e-01 1.39301731e-01 -7.21507863e-02 -6.68322715e+01] [-1.39105703e-01 9.90247139e-01 7.75939199e-03 5.20697712e+00] [ 7.25280065e-02 2.37327071e-03 9.97363553e-01 -4.04301844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23534707 meters 0.04923731035679799 Centerline is valid? [True, True] Translation: X:-66.89, Y:5.21, Z:-4.05 [[ 9.87733148e-01 1.38686097e-01 -7.17592782e-02 -6.68941097e+01] [-1.38491129e-01 9.90333666e-01 7.70955645e-03 5.21480374e+00] [ 7.21348373e-02 2.32303897e-03 9.97392184e-01 -4.04610738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29534707 meters 0.04676767896911843 Centerline is valid? [True, True] Translation: X:-66.96, Y:5.22, Z:-4.05 [[ 9.87741326e-01 1.39022249e-01 -7.09921629e-02 -6.69553989e+01] [-1.38832832e-01 9.90286517e-01 7.61961990e-03 5.22118762e+00] [ 7.13618784e-02 2.32982958e-03 9.97447770e-01 -4.04833796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35534707000001 meters 0.04868663555979139 Centerline is valid? [True, True] Translation: X:-67.02, Y:5.23, Z:-4.05 [[ 9.88575435e-01 1.33235051e-01 -7.04771647e-02 -6.70174451e+01] [-1.33034085e-01 9.91082639e-01 7.55872164e-03 5.22662875e+00] [ 7.08557811e-02 1.90349860e-03 9.97484754e-01 -4.05043452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41534707 meters 0.04536591832056575 Centerline is valid? [True, True] Translation: X:-67.08, Y:5.23, Z:-4.05 [[ 9.88530659e-01 1.34917790e-01 -6.78551917e-02 -6.70796329e+01] [-1.34735936e-01 9.90854866e-01 7.27055673e-03 5.22978390e+00] [ 6.82155744e-02 1.95536457e-03 9.97668688e-01 -4.05351750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47534707 meters 0.04501837346904788 Centerline is valid? [True, True] Translation: X:-67.14, Y:5.24, Z:-4.06 [[ 9.88137386e-01 1.37207181e-01 -6.89832979e-02 -6.71417505e+01] [-1.37025331e-01 9.90540024e-01 7.38369738e-03 5.23623305e+00] [ 6.93438139e-02 2.15635180e-03 9.97590490e-01 -4.05780281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53534707 meters 0.039601476201346124 Centerline is valid? [True, True] Translation: X:-67.20, Y:5.25, Z:-4.06 [[ 9.87519348e-01 1.40646681e-01 -7.08805248e-02 -6.72024828e+01] [-1.40464197e-01 9.90056763e-01 7.57732985e-03 5.24504983e+00] [ 7.12414692e-02 2.47341616e-03 9.97456032e-01 -4.06008845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59534707 meters 0.027809527991672623 Centerline is valid? [True, True] Translation: X:-67.26, Y:5.26, Z:-4.07 [[ 9.85516072e-01 1.53083240e-01 -7.29629656e-02 -6.72617741e+01] [-1.52924050e-01 9.88207190e-01 7.79641361e-03 5.25673045e+00] [ 7.32960275e-02 3.47430127e-03 9.97304177e-01 -4.06696438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65534707 meters 0.02677257316145184 Centerline is valid? [True, True] Translation: X:-67.32, Y:5.27, Z:-4.07 [[ 9.84448378e-01 1.59105699e-01 -7.44766242e-02 -6.73208742e+01] [-1.58956982e-01 9.87253434e-01 7.95827297e-03 5.27033492e+00] [ 7.47935096e-02 4.00407047e-03 9.97191004e-01 -4.07250429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71534707 meters 0.027823416005535756 Centerline is valid? [True, True] Translation: X:-67.38, Y:5.28, Z:-4.07 [[ 9.83356814e-01 1.66238266e-01 -7.33090334e-02 -6.73797321e+01] [-1.66113862e-01 9.86075463e-01 7.83364731e-03 5.28013607e+00] [ 7.35904910e-02 4.47437618e-03 9.97278507e-01 -4.07473680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77534707 meters 0.026320926053813698 Centerline is valid? [True, True] Translation: X:-67.44, Y:5.28, Z:-4.08 [[ 9.82677566e-01 1.70144621e-01 -7.34548144e-02 -6.74404199e+01] [-1.70030521e-01 9.85407531e-01 7.84989085e-03 5.28329105e+00] [ 7.37185440e-02 4.77564872e-03 9.97267652e-01 -4.08079836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83534707 meters 0.03138479815166132 Centerline is valid? [True, True] Translation: X:-67.50, Y:5.30, Z:-4.08 [[ 9.82162434e-01 1.73453484e-01 -7.26005687e-02 -6.75008524e+01] [-1.73351306e-01 9.84829526e-01 7.75437810e-03 5.29657928e+00] [ 7.28442076e-02 4.96934450e-03 9.97330952e-01 -4.08185452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89534707 meters 0.033776714408823474 Centerline is valid? [True, True] Translation: X:-67.56, Y:5.31, Z:-4.09 [[ 9.81959060e-01 1.74032866e-01 -7.39524591e-02 -6.75617062e+01] [-1.73929037e-01 9.84726569e-01 7.89146280e-03 5.30998684e+00] [ 7.41963252e-02 5.11338658e-03 9.97230544e-01 -4.09087701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95534707 meters 0.03279104012708138 Centerline is valid? [True, True] Translation: X:-67.62, Y:5.31, Z:-4.10 [[ 9.81227714e-01 1.78016277e-01 -7.41780252e-02 -6.76207982e+01] [-1.77924974e-01 9.84012419e-01 7.89062773e-03 5.31345372e+00] [ 7.43967583e-02 5.45562064e-03 9.97213798e-01 -4.09530530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01534707 meters 0.03542196119963628 Centerline is valid? [True, True] Translation: X:-67.68, Y:5.32, Z:-4.10 [[ 9.79921640e-01 1.84749084e-01 -7.49756968e-02 -6.76801008e+01] [-1.84675224e-01 9.82767229e-01 7.97720880e-03 5.32471600e+00] [ 7.51574398e-02 6.02911405e-03 9.97153453e-01 -4.10096953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07534707 meters 0.03505539546010091 Centerline is valid? [True, True] Translation: X:-67.74, Y:5.33, Z:-4.11 [[ 9.79498522e-01 1.86992764e-01 -7.49423216e-02 -6.77398969e+01] [-1.86925604e-01 9.82341725e-01 7.97201382e-03 5.32997353e+00] [ 7.51096784e-02 6.20006301e-03 9.97156004e-01 -4.10741595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13534707000001 meters 0.036039597279200655 Centerline is valid? [True, True] Translation: X:-67.80, Y:5.33, Z:-4.11 [[ 9.78597211e-01 1.90962146e-01 -7.66874012e-02 -6.78002244e+01] [-1.90904781e-01 9.81574755e-01 8.14651579e-03 5.33488565e+00] [ 7.68300931e-02 6.66783390e-03 9.97021904e-01 -4.10976873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19534707 meters 0.03542500497180688 Centerline is valid? [True, True] Translation: X:-67.86, Y:5.33, Z:-4.11 [[ 9.78283504e-01 1.92680766e-01 -7.63905027e-02 -6.78607263e+01] [-1.92629313e-01 9.81238073e-01 8.11127777e-03 5.33483078e+00] [ 7.65201568e-02 6.77992081e-03 9.97044983e-01 -4.11456455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25534707 meters 0.038412052308504 Centerline is valid? [True, True] Translation: X:-67.92, Y:5.34, Z:-4.12 [[ 9.77838719e-01 1.95298462e-01 -7.54317637e-02 -6.79224166e+01] [-1.95256887e-01 9.80719525e-01 7.99757562e-03 5.33968932e+00] [ 7.55393177e-02 6.90823223e-03 9.97118894e-01 -4.11798036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31534707 meters 0.040502030482685844 Centerline is valid? [True, True] Translation: X:-67.98, Y:5.34, Z:-4.12 [[ 9.78123848e-01 1.93933031e-01 -7.52576674e-02 -6.79842386e+01] [-1.93888366e-01 9.80991227e-01 7.96951370e-03 5.34445041e+00] [ 7.53726635e-02 6.79641479e-03 9.97132273e-01 -4.12411933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37534707 meters 0.039173730233814257 Centerline is valid? [True, True] Translation: X:-68.04, Y:5.34, Z:-4.13 [[ 9.77502432e-01 1.97523402e-01 -7.39831106e-02 -6.80447658e+01] [-1.97492245e-01 9.80273341e-01 7.80955673e-03 5.33768523e+00] [ 7.40662412e-02 6.97722990e-03 9.97228916e-01 -4.12558912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43534707 meters 0.03911231358599805 Centerline is valid? [True, True] Translation: X:-68.11, Y:5.34, Z:-4.13 [[ 9.77053047e-01 1.99549637e-01 -7.44801074e-02 -6.81064738e+01] [-1.99523794e-01 9.79861431e-01 7.86332599e-03 5.33768005e+00] [ 7.45493084e-02 7.17766700e-03 9.97191497e-01 -4.12947392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49534707000001 meters 0.042260438195547825 Centerline is valid? [True, True] Translation: X:-68.17, Y:5.34, Z:-4.14 [[ 9.76685660e-01 2.01474843e-01 -7.41148327e-02 -6.81678522e+01] [-2.01455059e-01 9.79466539e-01 7.82029698e-03 5.34143734e+00] [ 7.41685918e-02 7.29283610e-03 9.97219050e-01 -4.13580156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55534707 meters 0.03987369575521984 Centerline is valid? [True, True] Translation: X:-68.23, Y:5.34, Z:-4.14 [[ 9.76671686e-01 2.01577389e-01 -7.40200947e-02 -6.82293612e+01] [-2.01558610e-01 9.79445387e-01 7.80134347e-03 5.34081452e+00] [ 7.40712147e-02 7.30003613e-03 9.97226235e-01 -4.13750133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61534707 meters 0.04331896652299559 Centerline is valid? [True, True] Translation: X:-68.29, Y:5.34, Z:-4.14 [[ 9.76251434e-01 2.03777471e-01 -7.35382931e-02 -6.82901071e+01] [-2.03766938e-01 9.78988943e-01 7.72556579e-03 5.34468674e+00] [ 7.35674721e-02 7.44257815e-03 9.97262471e-01 -4.14418391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67534707 meters 0.04223409892858581 Centerline is valid? [True, True] Translation: X:-68.35, Y:5.34, Z:-4.15 [[ 9.76291069e-01 2.03290848e-01 -7.43544193e-02 -6.83541362e+01] [-2.03279302e-01 9.79089697e-01 7.80327466e-03 5.34236853e+00] [ 7.43859801e-02 7.49644707e-03 9.97201348e-01 -4.14831297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73534707 meters 0.0401234552197423 Centerline is valid? [True, True] Translation: X:-68.42, Y:5.33, Z:-4.15 [[ 9.75847173e-01 2.05653586e-01 -7.36810499e-02 -6.84158234e+01] [-2.05651105e-01 9.78595061e-01 7.70257111e-03 5.33447135e+00] [ 7.36879729e-02 7.63605711e-03 9.97252111e-01 -4.15152825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79534707 meters 0.06531575011145081 Centerline is valid? [True, True] Translation: X:-68.47, Y:5.38, Z:-4.16 [[ 9.75181960e-01 2.08941164e-01 -7.32375292e-02 -6.84713434e+01] [-2.08948156e-01 9.77896781e-01 7.65208187e-03 5.38328880e+00] [ 7.32175790e-02 7.84067451e-03 9.97285170e-01 -4.16074540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85534707000001 meters 0.0670110436145394 Centerline is valid? [True, True] Translation: X:-68.53, Y:5.38, Z:-4.17 [[ 9.74238958e-01 2.13462775e-01 -7.27467957e-02 -6.85311510e+01] [-2.13482223e-01 9.76917395e-01 7.59894700e-03 5.38285467e+00] [ 7.26897025e-02 8.12695748e-03 9.97321493e-01 -4.16556991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91534707 meters 0.05058821222315581 Centerline is valid? [True, True] Translation: X:-68.59, Y:5.35, Z:-4.17 [[ 9.73502413e-01 2.16504629e-01 -7.36124888e-02 -6.85946992e+01] [-2.16533030e-01 9.76245000e-01 7.69073749e-03 5.35076308e+00] [ 7.35289044e-02 8.45258373e-03 9.97257266e-01 -4.16824769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97534707 meters 0.06952270312414709 Centerline is valid? [True, True] Translation: X:-68.65, Y:5.39, Z:-4.18 [[ 9.71978160e-01 2.23625325e-01 -7.24580629e-02 -6.86515069e+01] [-2.23672273e-01 9.74635013e-01 7.56999761e-03 5.38524763e+00] [ 7.23130083e-02 8.84898728e-03 9.97342732e-01 -4.17515147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03534707 meters 0.07229681116403996 Centerline is valid? [True, True] Translation: X:-68.71, Y:5.39, Z:-4.18 [[ 9.70813902e-01 2.29147706e-01 -7.07933293e-02 -6.87124867e+01] [-2.29206993e-01 9.73349615e-01 7.39471729e-03 5.38952432e+00] [ 7.06011423e-02 9.04743176e-03 9.97463595e-01 -4.17843898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09534707 meters 0.07219674808849383 Centerline is valid? [True, True] Translation: X:-68.77, Y:5.39, Z:-4.18 [[ 9.69862366e-01 2.32896148e-01 -7.15987113e-02 -6.87729273e+01] [-2.32966972e-01 9.72455904e-01 7.47688526e-03 5.38724274e+00] [ 7.13679274e-02 9.42858535e-03 9.97405495e-01 -4.18264518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15534707 meters 0.07111962542365495 Centerline is valid? [True, True] Translation: X:-68.83, Y:5.38, Z:-4.19 [[ 9.69409034e-01 2.34320949e-01 -7.30740500e-02 -6.88341176e+01] [-2.34398786e-01 9.72110584e-01 7.63027005e-03 5.38332500e+00] [ 7.28239895e-02 9.73161584e-03 9.97297329e-01 -4.18707066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21534707 meters 0.07040203962886324 Centerline is valid? [True, True] Translation: X:-68.90, Y:5.38, Z:-4.19 [[ 9.69079020e-01 2.36089346e-01 -7.17472831e-02 -6.88956050e+01] [-2.36169322e-01 9.71683062e-01 7.48855294e-03 5.37900930e+00] [ 7.14835873e-02 9.68750768e-03 9.97394731e-01 -4.19117840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27534707 meters 0.06992017780170265 Centerline is valid? [True, True] Translation: X:-68.96, Y:5.38, Z:-4.20 [[ 9.68857192e-01 2.37689504e-01 -6.94221921e-02 -6.89570713e+01] [-2.37768465e-01 9.71294847e-01 7.24412571e-03 5.37629732e+00] [ 6.91512701e-02 9.48788479e-03 9.97561067e-01 -4.19976068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33534707 meters 0.06910447332911691 Centerline is valid? [True, True] Translation: X:-69.02, Y:5.37, Z:-4.21 [[ 9.69014285e-01 2.37326783e-01 -6.84639647e-02 -6.90209006e+01] [-2.37402973e-01 9.71385018e-01 7.13966035e-03 5.36896723e+00] [ 6.81993022e-02 9.33511587e-03 9.97628042e-01 -4.20630579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39534707 meters 0.06687928386253152 Centerline is valid? [True, True] Translation: X:-69.08, Y:5.36, Z:-4.22 [[ 9.68949250e-01 2.37453972e-01 -6.89417319e-02 -6.90835164e+01] [-2.37533498e-01 9.71352950e-01 7.16128959e-03 5.36086273e+00] [ 6.86672313e-02 9.43704456e-03 9.97594985e-01 -4.21513892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45534707 meters 0.06512214207750211 Centerline is valid? [True, True] Translation: X:-69.15, Y:5.36, Z:-4.22 [[ 9.68952987e-01 2.37962433e-01 -6.71117737e-02 -6.91456152e+01] [-2.38040527e-01 9.71230374e-01 6.94756314e-03 5.35629337e+00] [ 6.68342521e-02 9.24345991e-03 9.97721274e-01 -4.22111626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51534707 meters 0.06176271179496717 Centerline is valid? [True, True] Translation: X:-69.21, Y:5.35, Z:-4.23 [[ 9.68800777e-01 2.39079848e-01 -6.53137085e-02 -6.92074510e+01] [-2.39157695e-01 9.70957351e-01 6.73939658e-03 5.34911968e+00] [ 6.50280793e-02 9.09114337e-03 9.97842022e-01 -4.22613173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57534707 meters 0.060601720354393325 Centerline is valid? [True, True] Translation: X:-69.27, Y:5.35, Z:-4.23 [[ 9.68784335e-01 2.39083229e-01 -6.55448035e-02 -6.92701151e+01] [-2.39161878e-01 9.70956180e-01 6.75961793e-03 5.34646230e+00] [ 6.52572433e-02 9.12720635e-03 9.97826732e-01 -4.23242484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63534707 meters 0.0587342001056254 Centerline is valid? [True, True] Translation: X:-69.33, Y:5.34, Z:-4.24 [[ 9.68879882e-01 2.38408972e-01 -6.65803029e-02 -6.93319375e+01] [-2.38490332e-01 9.71120782e-01 6.84019738e-03 5.34014853e+00] [ 6.62882802e-02 9.25142890e-03 9.97757623e-01 -4.23587240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69534707 meters 0.05687413666996568 Centerline is valid? [True, True] Translation: X:-69.39, Y:5.34, Z:-4.24 [[ 9.69216919e-01 2.37418952e-01 -6.51981994e-02 -6.93949658e+01] [-2.37495623e-01 9.71365608e-01 6.68467327e-03 5.33557550e+00] [ 6.49183568e-02 9.00538858e-03 9.97849944e-01 -4.24295074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75534707 meters 0.05528487739536591 Centerline is valid? [True, True] Translation: X:-69.46, Y:5.33, Z:-4.25 [[ 9.69635846e-01 2.36174018e-01 -6.34677758e-02 -6.94575270e+01] [-2.36245674e-01 9.71671743e-01 6.48118151e-03 5.33206405e+00] [ 6.32005310e-02 8.70960153e-03 9.97962843e-01 -4.24898117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81534707 meters 0.05199537875094229 Centerline is valid? [True, True] Translation: X:-69.52, Y:5.33, Z:-4.25 [[ 9.69589373e-01 2.36669127e-01 -6.23231259e-02 -6.95195059e+01] [-2.36739634e-01 9.71552330e-01 6.35732753e-03 5.32505406e+00] [ 6.20547613e-02 8.59035681e-03 9.98035777e-01 -4.25236024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87534707 meters 0.05084128309352308 Centerline is valid? [True, True] Translation: X:-69.58, Y:5.32, Z:-4.26 [[ 9.69675849e-01 2.36108554e-01 -6.30991160e-02 -6.95825188e+01] [-2.36180637e-01 9.71687951e-01 6.42128850e-03 5.32407699e+00] [ 6.28287718e-02 8.67622103e-03 9.97986607e-01 -4.25622482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93534707 meters 0.05483494151199972 Centerline is valid? [True, True] Translation: X:-69.64, Y:5.33, Z:-4.26 [[ 9.69550658e-01 2.37289228e-01 -6.05420893e-02 -6.96437400e+01] [-2.37359704e-01 9.71402492e-01 6.12946875e-03 5.33234328e+00] [ 6.02651933e-02 8.42742192e-03 9.98146825e-01 -4.26200670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99534707000001 meters 0.05054854512743978 Centerline is valid? [True, True] Translation: X:-69.71, Y:5.33, Z:-4.27 [[ 9.69349893e-01 2.38491695e-01 -5.90126837e-02 -6.97051947e+01] [-2.38561152e-01 9.71109134e-01 5.96881003e-03 5.32712515e+00] [ 5.87312678e-02 8.29226847e-03 9.98239388e-01 -4.26544954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05534707 meters 0.054503204789126035 Centerline is valid? [True, True] Translation: X:-69.77, Y:5.34, Z:-4.27 [[ 9.69123644e-01 2.39619057e-01 -5.81555633e-02 -6.97655392e+01] [-2.39688693e-01 9.70832001e-01 5.87851848e-03 5.33809180e+00] [ 5.78678869e-02 8.24221974e-03 9.98290225e-01 -4.27085566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11534707 meters 0.06311205044679698 Centerline is valid? [True, True] Translation: X:-69.82, Y:5.36, Z:-4.27 [[ 9.68310072e-01 2.42970217e-01 -5.78020619e-02 -6.98241289e+01] [-2.43045077e-01 9.69997423e-01 5.83869481e-03 5.35669935e+00] [ 5.74864800e-02 8.39483959e-03 9.98310989e-01 -4.27489567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17534707 meters 0.053410672607110674 Centerline is valid? [True, True] Translation: X:-69.89, Y:5.34, Z:-4.28 [[ 9.68298967e-01 2.43699117e-01 -5.48438799e-02 -6.98860706e+01] [-2.43767574e-01 9.69817855e-01 5.54053428e-03 5.34158639e+00] [ 5.45387973e-02 8.00426595e-03 9.98479570e-01 -4.28016326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23534707 meters 0.056723333759452335 Centerline is valid? [True, True] Translation: X:-69.95, Y:5.35, Z:-4.28 [[ 9.68007488e-01 2.44957974e-01 -5.43791730e-02 -6.99466479e+01] [-2.45027820e-01 9.69500547e-01 5.48234121e-03 5.34956780e+00] [ 5.40635812e-02 8.01746289e-03 9.98505308e-01 -4.28348884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29534707 meters 0.057030680252804083 Centerline is valid? [True, True] Translation: X:-70.01, Y:5.35, Z:-4.29 [[ 9.67688019e-01 2.45977134e-01 -5.54540025e-02 -7.00081607e+01] [-2.46051624e-01 9.69240622e-01 5.58700229e-03 5.35092655e+00] [ 5.51225467e-02 8.23807221e-03 9.98445611e-01 -4.28966702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35534707000001 meters 0.060357435285658075 Centerline is valid? [True, True] Translation: X:-70.07, Y:5.36, Z:-4.29 [[ 9.68079820e-01 2.44772164e-01 -5.39263386e-02 -7.00695458e+01] [-2.44840697e-01 9.69548092e-01 5.43421001e-03 5.36012342e+00] [ 5.36143220e-02 7.94261328e-03 9.98530129e-01 -4.29492690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41534707 meters 0.06828110285956346 Centerline is valid? [True, True] Translation: X:-70.13, Y:5.38, Z:-4.30 [[ 9.68551213e-01 2.42315813e-01 -5.64941959e-02 -7.01294948e+01] [-2.42388675e-01 9.70162699e-01 5.66284948e-03 5.37772849e+00] [ 5.61807596e-02 8.20879357e-03 9.98386868e-01 -4.29630353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47534707 meters 0.05905768289530718 Centerline is valid? [True, True] Translation: X:-70.19, Y:5.36, Z:-4.30 [[ 9.68587827e-01 2.42570466e-01 -5.47465950e-02 -7.01926884e+01] [-2.42639209e-01 9.70101072e-01 5.48864117e-03 5.36431333e+00] [ 5.44411127e-02 7.96743949e-03 9.98485195e-01 -4.30074117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53534707 meters 0.06594486091056409 Centerline is valid? [True, True] Translation: X:-70.25, Y:5.38, Z:-4.30 [[ 9.68989400e-01 2.41022456e-01 -5.44767769e-02 -7.02527036e+01] [-2.41089604e-01 9.70487646e-01 5.43433747e-03 5.38127754e+00] [ 5.41788363e-02 7.86796917e-03 9.98500250e-01 -4.30085605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59534707 meters 0.06640544830949756 Centerline is valid? [True, True] Translation: X:-70.32, Y:5.38, Z:-4.30 [[ 9.69072293e-01 2.40207767e-01 -5.65607680e-02 -7.03152500e+01] [-2.40278864e-01 9.70687509e-01 5.64152773e-03 5.38400114e+00] [ 5.62579698e-02 8.12330886e-03 9.98383219e-01 -4.30120865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65534707 meters 0.06370935959924771 Centerline is valid? [True, True] Translation: X:-70.38, Y:5.38, Z:-4.30 [[ 9.69742004e-01 2.37126746e-01 -5.80633481e-02 -7.03768148e+01] [-2.37197848e-01 9.71444261e-01 5.76440282e-03 5.38090571e+00] [ 5.77722004e-02 8.18251768e-03 9.98296258e-01 -4.30047506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71534707 meters 0.06378017324228606 Centerline is valid? [True, True] Translation: X:-70.44, Y:5.38, Z:-4.30 [[ 9.70718257e-01 2.32466397e-01 -6.05428837e-02 -7.04378872e+01] [-2.32534894e-01 9.72569486e-01 6.00990569e-03 5.38242828e+00] [ 6.02792623e-02 8.24440785e-03 9.98147504e-01 -4.30198206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77534707 meters 0.0595199468250704 Centerline is valid? [True, True] Translation: X:-70.50, Y:5.37, Z:-4.30 [[ 9.72267249e-01 2.25165926e-01 -6.32194821e-02 -7.04986925e+01] [-2.25225569e-01 9.74286444e-01 6.27440726e-03 5.37220164e+00] [ 6.30066671e-02 8.13824315e-03 9.97979924e-01 -4.30020113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83534707 meters 0.06148214870067764 Centerline is valid? [True, True] Translation: X:-70.56, Y:5.38, Z:-4.30 [[ 9.73207165e-01 2.19942259e-01 -6.70314610e-02 -7.05597824e+01] [-2.19997675e-01 9.75477759e-01 6.64566168e-03 5.37693532e+00] [ 6.68493611e-02 8.27916002e-03 9.97728730e-01 -4.29941783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89534707 meters 0.057808167616122806 Centerline is valid? [True, True] Translation: X:-70.62, Y:5.37, Z:-4.30 [[ 9.73877223e-01 2.16034423e-01 -6.99448567e-02 -7.06219157e+01] [-2.16085155e-01 9.76349921e-01 6.93090685e-03 5.36881522e+00] [ 6.97879697e-02 8.36419290e-03 9.97526781e-01 -4.29727921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95534707 meters 0.060367515346597456 Centerline is valid? [True, True] Translation: X:-70.68, Y:5.39, Z:-4.31 [[ 9.73875426e-01 2.14260495e-01 -7.52269517e-02 -7.06823672e+01] [-2.14314376e-01 9.76736317e-01 7.45082645e-03 5.38696374e+00] [ 7.50733135e-02 8.86604043e-03 9.97138602e-01 -4.30587618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01534707 meters 0.06342201750723687 Centerline is valid? [True, True] Translation: X:-70.74, Y:5.40, Z:-4.32 [[ 9.71631067e-01 2.23449328e-01 -7.74820512e-02 -7.07412603e+01] [-2.23535840e-01 9.74665561e-01 7.66626474e-03 5.40230816e+00] [ 7.72321086e-02 9.87123441e-03 9.96964272e-01 -4.31985390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07534707 meters 0.06690425447405778 Centerline is valid? [True, True] Translation: X:-70.80, Y:5.42, Z:-4.34 [[ 9.69036010e-01 2.33275832e-01 -8.09419423e-02 -7.07995152e+01] [-2.33404020e-01 9.72346876e-01 8.00730295e-03 5.41577106e+00] [ 8.05715549e-02 1.11328098e-02 9.96686653e-01 -4.33799277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13534707 meters 0.06678188071815265 Centerline is valid? [True, True] Translation: X:-70.86, Y:5.42, Z:-4.35 [[ 9.67857451e-01 2.37793621e-01 -8.18910721e-02 -7.08592937e+01] [-2.37940664e-01 9.71245904e-01 8.10144412e-03 5.41985961e+00] [ 8.14628401e-02 1.16441730e-02 9.96608358e-01 -4.34854362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19534707 meters 0.06006749489054252 Centerline is valid? [True, True] Translation: X:-70.92, Y:5.41, Z:-4.35 [[ 9.68160726e-01 2.35753872e-01 -8.41719711e-02 -7.09214707e+01] [-2.35901862e-01 9.71741213e-01 8.32623586e-03 5.41228624e+00] [ 8.37563157e-02 1.17951902e-02 9.96416456e-01 -4.35096690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25534707 meters 0.0689475179628494 Centerline is valid? [True, True] Translation: X:-70.98, Y:5.43, Z:-4.35 [[ 9.69059381e-01 2.31602921e-01 -8.53463725e-02 -7.09808500e+01] [-2.31739739e-01 9.72741227e-01 8.43786102e-03 5.43146354e+00] [ 8.49741684e-02 1.16013577e-02 9.96315612e-01 -4.35215395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31534707 meters 0.06122652442071953 Centerline is valid? [True, True] Translation: X:-71.04, Y:5.42, Z:-4.35 [[ 9.70252505e-01 2.26210768e-01 -8.62482740e-02 -7.10429212e+01] [-2.26329903e-01 9.74013408e-01 8.52383179e-03 5.42100577e+00] [ 8.59351579e-02 1.12502943e-02 9.96237210e-01 -4.35255965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37534707 meters 0.05356607544326172 Centerline is valid? [True, True] Translation: X:-71.11, Y:5.41, Z:-4.35 [[ 9.71234229e-01 2.22012854e-01 -8.61067058e-02 -7.11052637e+01] [-2.22115612e-01 9.74983222e-01 8.50714158e-03 5.41163027e+00] [ 8.58412883e-02 1.08632166e-02 9.96249599e-01 -4.35428755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43534707 meters 0.06288910524205116 Centerline is valid? [True, True] Translation: X:-71.17, Y:5.43, Z:-4.36 [[ 9.71538828e-01 2.20661657e-01 -8.61437155e-02 -7.11650770e+01] [-2.20759826e-01 9.75291122e-01 8.50453087e-03 5.43274147e+00] [ 8.58918248e-02 1.07545897e-02 9.96246422e-01 -4.36015839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49534707000001 meters 0.05840776580743171 Centerline is valid? [True, True] Translation: X:-71.23, Y:5.43, Z:-4.36 [[ 9.71874807e-01 2.19048704e-01 -8.64697965e-02 -7.12256960e+01] [-2.19141884e-01 9.75655709e-01 8.53063582e-03 5.42994996e+00] [ 8.62333754e-02 1.06584441e-02 9.96217949e-01 -4.36348507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55534707 meters 0.05672846460778951 Centerline is valid? [True, True] Translation: X:-71.29, Y:5.43, Z:-4.37 [[ 9.72280745e-01 2.17762139e-01 -8.51457765e-02 -7.12873995e+01] [-2.17847824e-01 9.75946624e-01 8.39713263e-03 5.42971480e+00] [ 8.49263107e-02 1.03844517e-02 9.96333119e-01 -4.36981996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61534707 meters 0.05888298560913675 Centerline is valid? [True, True] Translation: X:-71.35, Y:5.44, Z:-4.38 [[ 9.71909867e-01 2.19517488e-01 -8.48721525e-02 -7.13480717e+01] [-2.19609595e-01 9.75551970e-01 8.36535326e-03 5.43591463e+00] [ 8.46335369e-02 1.05083697e-02 9.96356733e-01 -4.37994449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67534707 meters 0.05349056202744968 Centerline is valid? [True, True] Translation: X:-71.41, Y:5.43, Z:-4.38 [[ 9.72511090e-01 2.17496275e-01 -8.31718138e-02 -7.14088095e+01] [-2.17577816e-01 9.76008594e-01 8.19261015e-03 5.43091810e+00] [ 8.29582672e-02 1.01289374e-02 9.96501546e-01 -4.38139959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73534707 meters 0.05325046371295472 Centerline is valid? [True, True] Translation: X:-71.47, Y:5.43, Z:-4.38 [[ 9.72688292e-01 2.16741980e-01 -8.30686448e-02 -7.14705162e+01] [-2.16821149e-01 9.76177106e-01 8.17596407e-03 5.43373745e+00] [ 8.28617840e-02 1.00583745e-02 9.96510288e-01 -4.38390367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79534707 meters 0.0564655627300317 Centerline is valid? [True, True] Translation: X:-71.53, Y:5.44, Z:-4.39 [[ 9.72846495e-01 2.15969502e-01 -8.32278300e-02 -7.15312930e+01] [-2.16046613e-01 9.76348729e-01 8.18666573e-03 5.44090552e+00] [ 8.30274561e-02 1.00167217e-02 9.96496918e-01 -4.39453007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85534707000001 meters 0.05978975987031589 Centerline is valid? [True, True] Translation: X:-71.59, Y:5.45, Z:-4.40 [[ 9.73074261e-01 2.15378044e-01 -8.20900717e-02 -7.15913397e+01] [-2.15451301e-01 9.76481236e-01 8.07044016e-03 5.44598882e+00] [ 8.18976103e-02 9.83327516e-03 9.96592238e-01 -4.40438921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91534707 meters 0.05159318641247862 Centerline is valid? [True, True] Translation: X:-71.65, Y:5.43, Z:-4.41 [[ 9.74190039e-01 2.10694267e-01 -8.10042816e-02 -7.16521958e+01] [-2.10749716e-01 9.77507626e-01 7.96228171e-03 5.43396533e+00] [ 8.08599101e-02 9.31485382e-03 9.96681949e-01 -4.41124881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97534707 meters 0.05328893255480612 Centerline is valid? [True, True] Translation: X:-71.71, Y:5.44, Z:-4.42 [[ 9.75307415e-01 2.05798797e-01 -8.01392695e-02 -7.17122660e+01] [-2.05836593e-01 9.78554658e-01 7.87897824e-03 5.43940548e+00] [ 8.00421397e-02 8.81116832e-03 9.96752537e-01 -4.42064712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03534707 meters 0.04994415955164902 Centerline is valid? [True, True] Translation: X:-71.77, Y:5.44, Z:-4.43 [[ 9.76376910e-01 2.00561240e-01 -8.03947633e-02 -7.17730810e+01] [-2.00581756e-01 9.79645082e-01 7.90395849e-03 5.43671864e+00] [ 8.03435622e-02 8.40848022e-03 9.96731764e-01 -4.43175668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09534707 meters 0.04878303313811813 Centerline is valid? [True, True] Translation: X:-71.83, Y:5.44, Z:-4.44 [[ 9.77276906e-01 1.96472017e-01 -7.95524680e-02 -7.18328546e+01] [-1.96478661e-01 9.80476905e-01 7.82147476e-03 5.43852831e+00] [ 7.95360585e-02 7.98661569e-03 9.96799995e-01 -4.43808430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15534707 meters 0.04553280453828558 Centerline is valid? [True, True] Translation: X:-71.89, Y:5.44, Z:-4.45 [[ 9.78500415e-01 1.90742413e-01 -7.84491505e-02 -7.18931723e+01] [-1.90730454e-01 9.81612129e-01 7.71503557e-03 5.43586228e+00] [ 7.84782221e-02 7.41347656e-03 9.96888263e-01 -4.44986211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21534707 meters 0.04288388431666277 Centerline is valid? [True, True] Translation: X:-71.95, Y:5.44, Z:-4.45 [[ 9.79115158e-01 1.87437133e-01 -7.87453468e-02 -7.19533822e+01] [-1.87414483e-01 9.82250394e-01 7.74440439e-03 5.43615809e+00] [ 7.87992369e-02 7.17535477e-03 9.96864682e-01 -4.45467744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27534707 meters 0.04419036810233508 Centerline is valid? [True, True] Translation: X:-72.01, Y:5.44, Z:-4.46 [[ 9.79143895e-01 1.87172956e-01 -7.90159257e-02 -7.20109893e+01] [-1.87149000e-01 9.82300770e-01 7.77486291e-03 5.44344558e+00] [ 7.90726487e-02 7.17504195e-03 9.96843034e-01 -4.46119827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33534707 meters 0.04412982316917051 Centerline is valid? [True, True] Translation: X:-72.07, Y:5.45, Z:-4.47 [[ 9.79524276e-01 1.85098490e-01 -7.91880179e-02 -7.20699291e+01] [-1.85066866e-01 9.82694956e-01 7.80250074e-03 5.44911489e+00] [ 7.92618968e-02 7.01233937e-03 9.96829162e-01 -4.46531367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39534707 meters 0.043315229133563275 Centerline is valid? [True, True] Translation: X:-72.13, Y:5.45, Z:-4.47 [[ 9.79513166e-01 1.84755546e-01 -8.01208245e-02 -7.21280788e+01] [-1.84721134e-01 9.82759177e-01 7.90587733e-03 5.45396197e+00] [ 8.02001303e-02 7.05609863e-03 9.96753806e-01 -4.47325612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45534707 meters 0.04360946730916236 Centerline is valid? [True, True] Translation: X:-72.19, Y:5.46, Z:-4.48 [[ 9.80327335e-01 1.81187803e-01 -7.82898277e-02 -7.21873649e+01] [-1.81141610e-01 9.83426480e-01 7.75083304e-03 5.46070452e+00] [ 7.83966461e-02 6.58319192e-03 9.96900510e-01 -4.48037878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51534707 meters 0.04027432054153927 Centerline is valid? [True, True] Translation: X:-72.25, Y:5.46, Z:-4.49 [[ 9.81239071e-01 1.76076484e-01 -7.85299705e-02 -7.22464578e+01] [-1.76013583e-01 9.84357018e-01 7.77688072e-03 5.46174081e+00] [ 7.86708534e-02 6.19136227e-03 9.96881419e-01 -4.48691552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57534707 meters 0.03726473253250015 Centerline is valid? [True, True] Translation: X:-72.31, Y:5.46, Z:-4.49 [[ 9.82126969e-01 1.70553225e-01 -7.96129031e-02 -7.23065176e+01] [-1.70470386e-01 9.85331240e-01 7.88638168e-03 5.46277208e+00] [ 7.97901284e-02 5.82621417e-03 9.96794658e-01 -4.49314453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63534707 meters 0.030828212786176954 Centerline is valid? [True, True] Translation: X:-72.37, Y:5.46, Z:-4.50 [[ 9.83111349e-01 1.65147691e-01 -7.88563032e-02 -7.23676384e+01] [-1.65049118e-01 9.86254415e-01 7.81139595e-03 5.46115552e+00] [ 7.90624112e-02 5.33569132e-03 9.96855388e-01 -4.49732425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69534707 meters 0.03051630033812123 Centerline is valid? [True, True] Translation: X:-72.43, Y:5.47, Z:-4.50 [[ 9.83993186e-01 1.60135791e-01 -7.81916724e-02 -7.24254244e+01] [-1.60023315e-01 9.87082866e-01 7.74307556e-03 5.47394585e+00] [ 7.84216036e-02 4.89335702e-03 9.96908274e-01 -4.50135052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75534707 meters 0.030935517996154033 Centerline is valid? [True, True] Translation: X:-72.48, Y:5.49, Z:-4.51 [[ 9.84641321e-01 1.57074799e-01 -7.62166482e-02 -7.24831402e+01] [-1.56958580e-01 9.87576326e-01 7.55017524e-03 5.48712279e+00] [ 7.64556996e-02 4.52864237e-03 9.97062695e-01 -4.50764346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81534707 meters 0.02400091149458393 Centerline is valid? [True, True] Translation: X:-72.54, Y:5.48, Z:-4.51 [[ 9.85918134e-01 1.49472974e-01 -7.49884204e-02 -7.25429647e+01] [-1.49338095e-01 9.88758243e-01 7.43446573e-03 5.48467703e+00] [ 7.52566705e-02 3.86885326e-03 9.97156691e-01 -4.50997578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87534707 meters 0.022848325086724186 Centerline is valid? [True, True] Translation: X:-72.60, Y:5.49, Z:-4.52 [[ 9.87309153e-01 1.39794627e-01 -7.53531557e-02 -7.26028357e+01] [-1.39630273e-01 9.90175525e-01 7.47110932e-03 5.49149409e+00] [ 7.56572714e-02 3.14528704e-03 9.97128921e-01 -4.51671177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93534707 meters 0.020544443741648665 Centerline is valid? [True, True] Translation: X:-72.66, Y:5.50, Z:-4.52 [[ 9.88448911e-01 1.30989236e-01 -7.62270970e-02 -7.26621708e+01] [-1.30794835e-01 9.91380642e-01 7.55873708e-03 5.49851914e+00] [ 7.65601816e-02 2.49868518e-03 9.97061831e-01 -4.52152835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99534707000001 meters 0.01724984768233683 Centerline is valid? [True, True] Translation: X:-72.72, Y:5.50, Z:-4.53 [[ 9.89487443e-01 1.22727310e-01 -7.65023307e-02 -7.27217635e+01] [-1.22506630e-01 9.92438681e-01 7.58875841e-03 5.49994750e+00] [ 7.68552201e-02 1.86306155e-03 9.97040523e-01 -4.52904547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05534707 meters 0.015867403664090167 Centerline is valid? [True, True] Translation: X:-72.78, Y:5.50, Z:-4.54 [[ 9.90287930e-01 1.16001661e-01 -7.66383105e-02 -7.27804711e+01] [-1.15759412e-01 9.93248123e-01 7.61085724e-03 5.50065591e+00] [ 7.70037301e-02 1.33466570e-03 9.97029911e-01 -4.53581077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11534707 meters 0.014726821872392394 Centerline is valid? [True, True] Translation: X:-72.84, Y:5.50, Z:-4.54 [[ 9.90895386e-01 1.11227879e-01 -7.58596936e-02 -7.28387535e+01] [-1.10974159e-01 9.93794500e-01 7.56490797e-03 5.50204208e+00] [ 7.62303749e-02 9.22433326e-04 9.97089805e-01 -4.54240871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17534707 meters 0.014088709175845662 Centerline is valid? [True, True] Translation: X:-72.90, Y:5.50, Z:-4.55 [[ 9.91504942e-01 1.05720390e-01 -7.57703694e-02 -7.28969344e+01] [-1.05448982e-01 9.94395786e-01 7.58507289e-03 5.50210666e+00] [ 7.61476329e-02 4.69271061e-04 9.97096444e-01 -4.54914611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23534707 meters 0.013052319296679191 Centerline is valid? [True, True] Translation: X:-72.96, Y:5.50, Z:-4.56 [[ 9.92132085e-01 9.99108917e-02 -7.54436237e-02 -7.29551670e+01] [-9.96236142e-02 9.94996389e-01 7.57111534e-03 5.50242066e+00] [ 7.58225701e-02 4.42002136e-06 9.97121326e-01 -4.55734447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29534707 meters 0.013361470147830266 Centerline is valid? [True, True] Translation: X:-73.01, Y:5.50, Z:-4.57 [[ 9.92419807e-01 9.61460235e-02 -7.65432536e-02 -7.30140425e+01] [-9.58366035e-02 9.95367188e-01 7.71398629e-03 5.50117017e+00] [ 7.69303122e-02 -3.19867345e-04 9.97036421e-01 -4.56517733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35534707000001 meters 0.013451804063477847 Centerline is valid? [True, True] Translation: X:-73.07, Y:5.50, Z:-4.57 [[ 9.92887523e-01 9.13507415e-02 -7.63505635e-02 -7.30735112e+01] [-9.10264840e-02 9.95818520e-01 7.72358438e-03 5.49995720e+00] [ 7.67368603e-02 -7.18727224e-04 9.97051121e-01 -4.57140389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41534707 meters 0.014980610273597313 Centerline is valid? [True, True] Translation: X:-73.13, Y:5.49, Z:-4.58 [[ 9.93358525e-01 8.49479076e-02 -7.76060134e-02 -7.31330758e+01] [-8.45918119e-02 9.96384606e-01 7.87039408e-03 5.49468976e+00] [ 7.79940106e-02 -1.25328977e-03 9.96953040e-01 -4.57818459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47534707 meters 0.017932653763533375 Centerline is valid? [True, True] Translation: X:-73.19, Y:5.49, Z:-4.58 [[ 9.93868776e-01 7.98107828e-02 -7.65185984e-02 -7.31917707e+01] [-7.94472636e-02 9.96808648e-01 7.78796095e-03 5.49189050e+00] [ 7.68959638e-02 -1.66101796e-03 9.97037738e-01 -4.57997487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53534707 meters 0.019160677461332525 Centerline is valid? [True, True] Translation: X:-73.25, Y:5.49, Z:-4.59 [[ 9.94326642e-01 7.36388053e-02 -7.67584227e-02 -7.32507481e+01] [-7.32537961e-02 9.97282647e-01 7.82326648e-03 5.48690148e+00] [ 7.71259390e-02 -2.15603644e-03 9.97019027e-01 -4.58772374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59534707 meters 0.023344676439120682 Centerline is valid? [True, True] Translation: X:-73.31, Y:5.48, Z:-4.59 [[ 9.94783213e-01 6.83425053e-02 -7.57341514e-02 -7.33107231e+01] [-6.79515174e-02 9.97658674e-01 7.73052149e-03 5.48071963e+00] [ 7.60851563e-02 -2.54394250e-03 9.97098078e-01 -4.59141655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65534707 meters 0.01972317537943627 Centerline is valid? [True, True] Translation: X:-73.37, Y:5.48, Z:-4.60 [[ 9.94894305e-01 6.68231062e-02 -7.56306464e-02 -7.33681000e+01] [-6.64267253e-02 9.97761229e-01 7.74730701e-03 5.48400929e+00] [ 7.59790258e-02 -2.68385545e-03 9.97105804e-01 -4.60195258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71534707 meters 0.0211625915255715 Centerline is valid? [True, True] Translation: X:-73.43, Y:5.48, Z:-4.61 [[ 9.94848934e-01 6.90399637e-02 -7.42231850e-02 -7.34268918e+01] [-6.86629752e-02 9.97610797e-01 7.62195196e-03 5.48327839e+00] [ 7.45720700e-02 -2.48630607e-03 9.97212527e-01 -4.61083972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77534707 meters 0.018945800295110615 Centerline is valid? [True, True] Translation: X:-73.49, Y:5.49, Z:-4.62 [[ 9.94546603e-01 7.38269127e-02 -7.36657383e-02 -7.34855331e+01] [-7.34664777e-02 9.97268772e-01 7.59428721e-03 5.48809671e+00] [ 7.40252031e-02 -2.14091023e-03 9.97254073e-01 -4.61646041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83534707 meters 0.017239762638831015 Centerline is valid? [True, True] Translation: X:-73.54, Y:5.49, Z:-4.62 [[ 9.94229603e-01 7.84768522e-02 -7.31360349e-02 -7.35439891e+01] [-7.81334811e-02 9.96914328e-01 7.54865238e-03 5.49420334e+00] [ 7.35027555e-02 -1.79072067e-03 9.97293406e-01 -4.62046383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89534707 meters 0.01850874094792545 Centerline is valid? [True, True] Translation: X:-73.60, Y:5.50, Z:-4.63 [[ 9.93936071e-01 8.29613828e-02 -7.21699097e-02 -7.36023046e+01] [-8.26367062e-02 9.96551680e-01 7.47821782e-03 5.49725370e+00] [ 7.25414481e-02 -1.46898681e-03 9.97364317e-01 -4.62709925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95534707 meters 0.015213614022769635 Centerline is valid? [True, True] Translation: X:-73.66, Y:5.50, Z:-4.64 [[ 9.93780561e-01 8.57466118e-02 -7.10472795e-02 -7.36595620e+01] [-8.54370954e-02 9.96316163e-01 7.38959647e-03 5.50099667e+00] [ 7.14191858e-02 -1.27356413e-03 9.97445576e-01 -4.63541535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01534707 meters 0.017262583519865222 Centerline is valid? [True, True] Translation: X:-73.72, Y:5.50, Z:-4.64 [[ 9.93777914e-01 8.54665090e-02 -7.14208267e-02 -7.37177101e+01] [-8.51520974e-02 9.96340179e-01 7.44101102e-03 5.50065962e+00] [ 7.17953965e-02 -1.31307922e-03 9.97418516e-01 -4.63957619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07534707 meters 0.015929730578370802 Centerline is valid? [True, True] Translation: X:-73.77, Y:5.50, Z:-4.64 [[ 9.93855724e-01 8.55505205e-02 -7.02275431e-02 -7.37746509e+01] [-8.52444946e-02 9.96332963e-01 7.34860813e-03 5.50094855e+00] [ 7.05986934e-02 -1.31694483e-03 9.97503930e-01 -4.64479752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13534707 meters 0.014902182444273092 Centerline is valid? [True, True] Translation: X:-73.83, Y:5.50, Z:-4.65 [[ 9.93651503e-01 8.77280575e-02 -7.04306678e-02 -7.38332094e+01] [-8.74245368e-02 9.96143760e-01 7.38647985e-03 5.50050858e+00] [ 7.08070718e-02 -1.18221829e-03 9.97489329e-01 -4.65342279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19534707 meters 0.0157793280721497 Centerline is valid? [True, True] Translation: X:-73.89, Y:5.50, Z:-4.66 [[ 9.93701072e-01 8.82052223e-02 -6.91232094e-02 -7.38906295e+01] [-8.79119938e-02 9.96101653e-01 7.27867235e-03 5.50266456e+00] [ 6.94957600e-02 -1.15606536e-03 9.97581577e-01 -4.65578332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25534707 meters 0.014751625737530218 Centerline is valid? [True, True] Translation: X:-73.95, Y:5.50, Z:-4.67 [[ 9.93638823e-01 9.00653799e-02 -6.76026368e-02 -7.39495503e+01] [-8.97885007e-02 9.95935339e-01 7.12922674e-03 5.50251392e+00] [ 6.79699515e-02 -1.01393707e-03 9.97686853e-01 -4.66537084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31534707 meters 0.014617439895873122 Centerline is valid? [True, True] Translation: X:-74.01, Y:5.51, Z:-4.67 [[ 9.93602789e-01 9.03846243e-02 -6.77061156e-02 -7.40072971e+01] [-9.01056250e-02 9.95906408e-01 7.16960726e-03 5.50580068e+00] [ 6.80769766e-02 -1.02303990e-03 9.97679547e-01 -4.67040092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37534707 meters 0.015291848612425201 Centerline is valid? [True, True] Translation: X:-74.07, Y:5.51, Z:-4.67 [[ 9.93526085e-01 9.16921718e-02 -6.70705856e-02 -7.40652860e+01] [-9.14192646e-02 9.95786941e-01 7.13342788e-03 5.50791732e+00] [ 6.74420927e-02 -9.55703066e-04 9.97722732e-01 -4.67195203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43534707 meters 0.015553415403009517 Centerline is valid? [True, True] Translation: X:-74.12, Y:5.51, Z:-4.68 [[ 9.93364079e-01 9.36903539e-02 -6.67077492e-02 -7.41246768e+01] [-9.34241377e-02 9.95601042e-01 7.10609158e-03 5.50672741e+00] [ 6.70800768e-02 -8.26822172e-04 9.97747252e-01 -4.67648398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49534707000001 meters 0.013837081625266867 Centerline is valid? [True, True] Translation: X:-74.18, Y:5.51, Z:-4.69 [[ 9.93431897e-01 9.37123863e-02 -6.56586211e-02 -7.41819241e+01] [-9.34525300e-02 9.95598955e-01 7.02466314e-03 5.50555180e+00] [ 6.60279525e-02 -8.42560180e-04 9.97817418e-01 -4.68513354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55534707 meters 0.01597639093795603 Centerline is valid? [True, True] Translation: X:-74.24, Y:5.51, Z:-4.69 [[ 9.93026525e-01 9.82640409e-02 -6.51344675e-02 -7.42401299e+01] [-9.80172207e-02 9.95160227e-01 6.98194304e-03 5.51062609e+00] [ 6.55053054e-02 -5.48955158e-04 9.97852070e-01 -4.68588295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61534707 meters 0.013499181734596164 Centerline is valid? [True, True] Translation: X:-74.30, Y:5.52, Z:-4.69 [[ 9.92117544e-01 1.07689350e-01 -6.40763803e-02 -7.42981631e+01] [-1.07469198e-01 9.94184591e-01 6.88265373e-03 5.52088997e+00] [ 6.44449384e-02 5.78356624e-05 9.97921263e-01 -4.69125961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67534707 meters 0.013697894566219462 Centerline is valid? [True, True] Translation: X:-74.35, Y:5.53, Z:-4.70 [[ 9.90735270e-01 1.19705662e-01 -6.41418612e-02 -7.43546839e+01] [-1.19508432e-01 9.92809092e-01 6.91670589e-03 5.53294071e+00] [ 6.45085918e-02 8.12868795e-04 9.97916821e-01 -4.69969379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73534707 meters 0.015628133531644516 Centerline is valid? [True, True] Translation: X:-74.41, Y:5.54, Z:-4.70 [[ 9.90091372e-01 1.24941181e-01 -6.40997321e-02 -7.44133076e+01] [-1.24754553e-01 9.92163491e-01 6.92157863e-03 5.53984020e+00] [ 6.44622042e-02 1.14373816e-03 9.97919494e-01 -4.70268523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79534707 meters 0.013956709125642033 Centerline is valid? [True, True] Translation: X:-74.47, Y:5.54, Z:-4.71 [[ 9.90314655e-01 1.22950175e-01 -6.44991405e-02 -7.44717416e+01] [-1.22755153e-01 9.92412349e-01 6.99303516e-03 5.53907433e+00] [ 6.48695384e-02 9.92296652e-04 9.97893260e-01 -4.71165171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85534707000001 meters 0.014042655421610074 Centerline is valid? [True, True] Translation: X:-74.53, Y:5.54, Z:-4.71 [[ 9.90951241e-01 1.18205987e-01 -6.35844512e-02 -7.45296108e+01] [-1.18005045e-01 9.92988886e-01 6.91970805e-03 5.53772561e+00] [ 6.39566043e-02 6.46192748e-04 9.97952471e-01 -4.71328074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91534707 meters 0.01357846179727482 Centerline is valid? [True, True] Translation: X:-74.59, Y:5.54, Z:-4.72 [[ 9.91353810e-01 1.14803651e-01 -6.35432481e-02 -7.45882976e+01] [-1.14595282e-01 9.93388116e-01 6.92619247e-03 5.53776698e+00] [ 6.39182597e-02 4.15449171e-04 9.97955051e-01 -4.71651320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97534707 meters 0.015459145099401366 Centerline is valid? [True, True] Translation: X:-74.65, Y:5.54, Z:-4.72 [[ 9.91234408e-01 1.14900961e-01 -6.52082591e-02 -7.46454801e+01] [-1.14680030e-01 9.93376869e-01 7.13353278e-03 5.54282706e+00] [ 6.55960260e-02 4.07081940e-04 9.97846178e-01 -4.72060611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03534707 meters 0.01322798819440916 Centerline is valid? [True, True] Translation: X:-74.70, Y:5.55, Z:-4.73 [[ 9.91679294e-01 1.12264591e-01 -6.29987255e-02 -7.47031354e+01] [-1.12051094e-01 9.93678330e-01 6.92302649e-03 5.54674622e+00] [ 6.33776791e-02 1.93654096e-04 9.97989595e-01 -4.72545801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09534707 meters 0.01208035606106461 Centerline is valid? [True, True] Translation: X:-74.76, Y:5.55, Z:-4.73 [[ 9.92296473e-01 1.06641485e-01 -6.30500012e-02 -7.47601786e+01] [-1.06415695e-01 9.94297522e-01 6.93808691e-03 5.54724128e+00] [ 6.34303479e-02 -1.75129506e-04 9.97986253e-01 -4.73100520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15534707 meters 0.012895874151900922 Centerline is valid? [True, True] Translation: X:-74.82, Y:5.55, Z:-4.73 [[ 9.92973440e-01 1.00486814e-01 -6.24991800e-02 -7.48190667e+01] [-1.00251969e-01 9.94938223e-01 6.89016955e-03 5.54664293e+00] [ 6.28751943e-02 -5.76089502e-04 9.98021231e-01 -4.73428411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21534707 meters 0.01434650101763259 Centerline is valid? [True, True] Translation: X:-74.88, Y:5.54, Z:-4.74 [[ 9.93636448e-01 9.32677277e-02 -6.31485640e-02 -7.48788381e+01] [-9.30115630e-02 9.95640488e-01 6.99060792e-03 5.54255538e+00] [ 6.35252651e-02 -1.07257618e-03 9.97979654e-01 -4.73805585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27534707 meters 0.01571743965589112 Centerline is valid? [True, True] Translation: X:-74.94, Y:5.54, Z:-4.74 [[ 9.93942530e-01 9.07864235e-02 -6.19360423e-02 -7.49375649e+01] [-9.05335884e-02 9.95869622e-01 6.88221943e-03 5.54310345e+00] [ 6.23050352e-02 -1.23323843e-03 9.98056392e-01 -4.73907331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33534707 meters 0.014944613068757624 Centerline is valid? [True, True] Translation: X:-75.00, Y:5.55, Z:-4.74 [[ 9.94078094e-01 8.97067107e-02 -6.13306602e-02 -7.49955123e+01] [-8.94551090e-02 9.95967358e-01 6.84146179e-03 5.54731430e+00] [ 6.16970606e-02 -1.31460640e-03 9.98094056e-01 -4.74461837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39534707 meters 0.014321459552236479 Centerline is valid? [True, True] Translation: X:-75.05, Y:5.55, Z:-4.75 [[ 9.93521298e-01 9.38001637e-02 -6.41635430e-02 -7.50537176e+01] [-9.35325787e-02 9.95590415e-01 7.16816653e-03 5.55162274e+00] [ 6.45529835e-02 -1.12034448e-03 9.97913652e-01 -4.74696587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45534707 meters 0.013982189450098801 Centerline is valid? [True, True] Translation: X:-75.11, Y:5.56, Z:-4.75 [[ 9.92572499e-01 1.02593720e-01 -6.53786113e-02 -7.51117585e+01] [-1.02333817e-01 9.94723176e-01 7.32072547e-03 5.55872729e+00] [ 6.57846803e-02 -5.75907966e-04 9.97833676e-01 -4.74812985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51534707 meters 0.013961326986671565 Centerline is valid? [True, True] Translation: X:-75.17, Y:5.56, Z:-4.75 [[ 9.91908401e-01 1.09202402e-01 -6.47499763e-02 -7.51699472e+01] [-1.08960868e-01 9.94019524e-01 7.26052611e-03 5.56347958e+00] [ 6.51556076e-02 -1.46563212e-04 9.97875105e-01 -4.75075540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57534707 meters 0.013578641017135643 Centerline is valid? [True, True] Translation: X:-75.23, Y:5.57, Z:-4.75 [[ 9.91239572e-01 1.14579033e-01 -6.56944197e-02 -7.52273601e+01] [-1.14340222e-01 9.93414119e-01 7.39601496e-03 5.56830016e+00] [ 6.61091923e-02 1.80291823e-04 9.97812378e-01 -4.75372660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63534707 meters 0.014447728742274974 Centerline is valid? [True, True] Translation: X:-75.28, Y:5.57, Z:-4.76 [[ 9.90713843e-01 1.18132949e-01 -6.73103839e-02 -7.52848398e+01] [-1.17888509e-01 9.92997707e-01 7.60610098e-03 5.57014175e+00] [ 6.77375880e-02 3.99651277e-04 9.97703092e-01 -4.75623409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69534707 meters 0.01285135493564776 Centerline is valid? [True, True] Translation: X:-75.34, Y:5.57, Z:-4.76 [[ 9.90161968e-01 1.21365870e-01 -6.96390921e-02 -7.53435298e+01] [-1.21111441e-01 9.92607640e-01 7.87986772e-03 5.56966261e+00] [ 7.00806419e-02 6.31745469e-04 9.97541129e-01 -4.76135301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75534707 meters 0.013390541271838422 Centerline is valid? [True, True] Translation: X:-75.40, Y:5.57, Z:-4.77 [[ 9.90100259e-01 1.22288122e-01 -6.88991523e-02 -7.54010776e+01] [-1.22039522e-01 9.92494420e-01 7.82180344e-03 5.56826758e+00] [ 6.93385379e-02 6.64050036e-04 9.97592966e-01 -4.76554002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81534707 meters 0.013491358283434002 Centerline is valid? [True, True] Translation: X:-75.46, Y:5.57, Z:-4.77 [[ 9.89928672e-01 1.22878637e-01 -7.02998231e-02 -7.54597749e+01] [-1.22619675e-01 9.92421460e-01 8.00377465e-03 5.56527720e+00] [ 7.07505460e-02 6.96975473e-04 9.97493797e-01 -4.77266382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87534707 meters 0.014091827019646393 Centerline is valid? [True, True] Translation: X:-75.52, Y:5.56, Z:-4.77 [[ 9.89783092e-01 1.24545201e-01 -6.94112600e-02 -7.55176811e+01] [-1.24294680e-01 9.92213632e-01 7.93348794e-03 5.56336544e+00] [ 6.98588763e-02 7.75018130e-04 9.97556583e-01 -4.77356641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93534707 meters 0.013397898827846444 Centerline is valid? [True, True] Translation: X:-75.58, Y:5.56, Z:-4.78 [[ 9.89199839e-01 1.28303038e-01 -7.08661316e-02 -7.55769606e+01] [-1.28049851e-01 9.91734466e-01 8.12309109e-03 5.56246056e+00] [ 7.13226024e-02 1.03903722e-03 9.97452759e-01 -4.77990914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99534707000001 meters 0.014964032133620686 Centerline is valid? [True, True] Translation: X:-75.64, Y:5.56, Z:-4.78 [[ 9.88202985e-01 1.34981656e-01 -7.23520025e-02 -7.56365857e+01] [-1.34733403e-01 9.90846927e-01 8.32330914e-03 5.56496529e+00] [ 7.28132533e-02 1.52311256e-03 9.97344429e-01 -4.78001742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05534707 meters 0.017744420761067546 Centerline is valid? [True, True] Translation: X:-75.70, Y:5.57, Z:-4.78 [[ 9.87150817e-01 1.41931587e-01 -7.34076865e-02 -7.56957187e+01] [-1.41693210e-01 9.89874370e-01 8.47148742e-03 5.56677728e+00] [ 7.38667590e-02 2.03873502e-03 9.97266035e-01 -4.78416428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11534707 meters 0.01963592970543731 Centerline is valid? [True, True] Translation: X:-75.75, Y:5.57, Z:-4.79 [[ 9.86199379e-01 1.48122836e-01 -7.39622277e-02 -7.57543651e+01] [-1.47897518e-01 9.88965780e-01 8.54457488e-03 5.56914294e+00] [ 7.44117589e-02 2.51217545e-03 9.97224438e-01 -4.78693607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17534707 meters 0.019894051817705337 Centerline is valid? [True, True] Translation: X:-75.81, Y:5.57, Z:-4.79 [[ 9.85760987e-01 1.50941098e-01 -7.41084501e-02 -7.58126296e+01] [-1.50721947e-01 9.88539020e-01 8.57324878e-03 5.57309746e+00] [ 7.45531503e-02 2.71859570e-03 9.97213336e-01 -4.79142569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23534707 meters 0.02099974596376776 Centerline is valid? [True, True] Translation: X:-75.87, Y:5.57, Z:-4.80 [[ 9.85302659e-01 1.54216795e-01 -7.34564570e-02 -7.58720075e+01] [-1.54008239e-01 9.88032751e-01 8.52909222e-03 5.57415291e+00] [ 7.38927146e-02 2.90916230e-03 9.97261953e-01 -4.79597986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29534707 meters 0.020633667381275648 Centerline is valid? [True, True] Translation: X:-75.93, Y:5.57, Z:-4.80 [[ 9.85181875e-01 1.55524455e-01 -7.23105651e-02 -7.59316195e+01] [-1.55323795e-01 9.87827691e-01 8.42444790e-03 5.56932676e+00] [ 7.27405863e-02 2.93193799e-03 9.97346585e-01 -4.80071600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35534707000001 meters 0.021076136435646313 Centerline is valid? [True, True] Translation: X:-75.99, Y:5.57, Z:-4.80 [[ 9.85248470e-01 1.56366838e-01 -6.95331908e-02 -7.59906560e+01] [-1.56181553e-01 9.87694930e-01 8.12700949e-03 5.56757053e+00] [ 6.99483747e-02 2.85267803e-03 9.97546534e-01 -4.80377152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41534707 meters 0.02187718093045427 Centerline is valid? [True, True] Translation: X:-76.05, Y:5.57, Z:-4.80 [[ 9.85153561e-01 1.57589985e-01 -6.81018135e-02 -7.60503234e+01] [-1.57413084e-01 9.87500522e-01 7.98997393e-03 5.56798585e+00] [ 6.85097163e-02 2.84876524e-03 9.97646382e-01 -4.80373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47534707 meters 0.024495036071237507 Centerline is valid? [True, True] Translation: X:-76.11, Y:5.57, Z:-4.80 [[ 9.86443990e-01 1.52722551e-01 -6.00339605e-02 -7.61097164e+01] [-1.52574731e-01 9.88266678e-01 7.06569625e-03 5.57272099e+00] [ 6.04086539e-02 2.18975176e-03 9.98171328e-01 -4.80174021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53534707 meters 0.022939639029436815 Centerline is valid? [True, True] Translation: X:-76.17, Y:5.56, Z:-4.80 [[ 9.86469280e-01 1.52325287e-01 -6.06248036e-02 -7.61684526e+01] [-1.52173370e-01 9.88328010e-01 7.14217669e-03 5.56412682e+00] [ 6.10051256e-02 2.17994275e-03 9.98135072e-01 -4.80415305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59534707 meters 0.02251598389939046 Centerline is valid? [True, True] Translation: X:-76.23, Y:5.56, Z:-4.80 [[ 9.86787346e-01 1.51191932e-01 -5.82385901e-02 -7.62282793e+01] [-1.51049315e-01 9.88502364e-01 6.86879530e-03 5.56175475e+00] [ 5.86074905e-02 2.01885887e-03 9.98279062e-01 -4.80281651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65534707 meters 0.022152235425000548 Centerline is valid? [True, True] Translation: X:-76.29, Y:5.55, Z:-4.80 [[ 9.87756921e-01 1.46058223e-01 -5.48020042e-02 -7.62880597e+01] [-1.45922751e-01 9.89274719e-01 6.48700608e-03 5.55458185e+00] [ 5.51617179e-02 1.58927404e-03 9.98476169e-01 -4.80155535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71534707 meters 0.022744539544862552 Centerline is valid? [True, True] Translation: X:-76.35, Y:5.55, Z:-4.80 [[ 9.88330086e-01 1.43364710e-01 -5.14800988e-02 -7.63474923e+01] [-1.43241445e-01 9.89669004e-01 6.09517848e-03 5.55183196e+00] [ 5.18220916e-02 1.35003547e-03 9.98655420e-01 -4.80192454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77534707 meters 0.024532504294703526 Centerline is valid? [True, True] Translation: X:-76.41, Y:5.55, Z:-4.80 [[ 9.88856192e-01 1.41373455e-01 -4.66580942e-02 -7.64065753e+01] [-1.41269279e-01 9.89955709e-01 5.53941264e-03 5.54836989e+00] [ 4.69725726e-02 1.11367282e-03 9.98895559e-01 -4.79713776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83534707 meters 0.02328176935009575 Centerline is valid? [True, True] Translation: X:-76.46, Y:5.54, Z:-4.80 [[ 9.89435001e-01 1.38311471e-01 -4.34547549e-02 -7.64649648e+01] [-1.38217102e-01 9.90388392e-01 5.18326555e-03 5.54410348e+00] [ 4.37539900e-02 8.77685922e-04 9.99041950e-01 -4.79816038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89534707 meters 0.024160194930312354 Centerline is valid? [True, True] Translation: X:-76.52, Y:5.54, Z:-4.80 [[ 9.89579964e-01 1.38033543e-01 -4.09662807e-02 -7.65246403e+01] [-1.37949341e-01 9.90427221e-01 4.88877198e-03 5.54170892e+00] [ 4.12489340e-02 8.13440612e-04 9.99148569e-01 -4.79553902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95534707 meters 0.024523315858867762 Centerline is valid? [True, True] Translation: X:-76.59, Y:5.54, Z:-4.79 [[ 9.89638390e-01 1.38100648e-01 -3.92946408e-02 -7.65850997e+01] [-1.38022613e-01 9.90417903e-01 4.70491281e-03 5.53549512e+00] [ 3.95678673e-02 7.67386656e-04 9.99216591e-01 -4.79305372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01534707 meters 0.025098912723297576 Centerline is valid? [True, True] Translation: X:-76.64, Y:5.53, Z:-4.79 [[ 9.89104046e-01 1.41598243e-01 -4.02880202e-02 -7.66437808e+01] [-1.41518304e-01 9.89923789e-01 4.84368159e-03 5.53153851e+00] [ 4.05679264e-02 9.10587229e-04 9.99176368e-01 -4.79308951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07534707 meters 0.02517924611915776 Centerline is valid? [True, True] Translation: X:-76.70, Y:5.53, Z:-4.79 [[ 9.87014328e-01 1.54060254e-01 -4.54769741e-02 -7.67045547e+01] [-1.53971131e-01 9.88060166e-01 5.47722724e-03 5.52969392e+00] [ 4.57778095e-02 1.59603937e-03 9.98950372e-01 -4.79394606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13534707 meters 0.02212984956042489 Centerline is valid? [True, True] Translation: X:-76.76, Y:5.53, Z:-4.79 [[ 9.86815989e-01 1.55428066e-01 -4.51255944e-02 -7.67643059e+01] [-1.55342011e-01 9.87845831e-01 5.42900435e-03 5.53092262e+00] [ 4.54209500e-02 1.65247229e-03 9.98966569e-01 -4.79026785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19534707 meters 0.022880718944271943 Centerline is valid? [True, True] Translation: X:-76.82, Y:5.53, Z:-4.79 [[ 9.84695009e-01 1.66944450e-01 -5.00528669e-02 -7.68245944e+01] [-1.66852000e-01 9.85963395e-01 6.04931032e-03 5.53467949e+00] [ 5.03601933e-02 2.39469525e-03 9.98728250e-01 -4.79000172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25534707 meters 0.02072306571692516 Centerline is valid? [True, True] Translation: X:-76.88, Y:5.53, Z:-4.79 [[ 9.84589766e-01 1.67564129e-01 -5.00525295e-02 -7.68838855e+01] [-1.67472508e-01 9.85858191e-01 6.04867533e-03 5.53070608e+00] [ 5.03582372e-02 2.42695883e-03 9.98728270e-01 -4.78727062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31534707 meters 0.021019233848754898 Centerline is valid? [True, True] Translation: X:-76.94, Y:5.53, Z:-4.78 [[ 9.84537978e-01 1.67758361e-01 -5.04192609e-02 -7.69437095e+01] [-1.67665485e-01 9.85825097e-01 6.09619160e-03 5.53241304e+00] [ 5.07272599e-02 2.45163766e-03 9.98709535e-01 -4.78223237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37534707 meters 0.023243993169145945 Centerline is valid? [True, True] Translation: X:-77.00, Y:5.54, Z:-4.78 [[ 9.83524652e-01 1.72246804e-01 -5.48661831e-02 -7.70027509e+01] [-1.72142422e-01 9.85049568e-01 6.65844590e-03 5.53560395e+00] [ 5.51928059e-02 2.89605196e-03 9.98471515e-01 -4.78067365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43534707 meters 0.01998849810928391 Centerline is valid? [True, True] Translation: X:-77.06, Y:5.53, Z:-4.78 [[ 9.84712088e-01 1.66043412e-01 -5.26468350e-02 -7.70642598e+01] [-1.65937302e-01 9.86115466e-01 6.41081322e-03 5.53101203e+00] [ 5.29803315e-02 2.42326851e-03 9.98592616e-01 -4.77647314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49534707000001 meters 0.020965175982488957 Centerline is valid? [True, True] Translation: X:-77.12, Y:5.53, Z:-4.78 [[ 9.84206456e-01 1.67711292e-01 -5.66619259e-02 -7.71233663e+01] [-1.67591197e-01 9.85832439e-01 6.89870044e-03 5.52963779e+00] [ 5.70161546e-02 2.70629447e-03 9.98369588e-01 -4.78099147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55534707 meters 0.01761692365346162 Centerline is valid? [True, True] Translation: X:-77.18, Y:5.52, Z:-4.78 [[ 9.86022117e-01 1.56181092e-01 -5.80331935e-02 -7.71846773e+01] [-1.56033807e-01 9.87726278e-01 7.08877243e-03 5.52175933e+00] [ 5.84280425e-02 2.06545373e-03 9.98289486e-01 -4.78287243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61534707 meters 0.017822656786388783 Centerline is valid? [True, True] Translation: X:-77.24, Y:5.52, Z:-4.78 [[ 9.86817673e-01 1.50018286e-01 -6.07074484e-02 -7.72447669e+01] [-1.49845353e-01 9.88681625e-01 7.41721765e-03 5.52239769e+00] [ 6.11330570e-02 1.77728756e-03 9.98128043e-01 -4.78271003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67534707 meters 0.016065616313262164 Centerline is valid? [True, True] Translation: X:-77.30, Y:5.52, Z:-4.79 [[ 9.87885858e-01 1.40530527e-01 -6.58232688e-02 -7.73044804e+01] [-1.40305905e-01 9.90075510e-01 8.04598941e-03 5.52093598e+00] [ 6.63007136e-02 1.28687416e-03 9.97798857e-01 -4.79268364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73534707 meters 0.011926393362336259 Centerline is valid? [True, True] Translation: X:-77.36, Y:5.51, Z:-4.79 [[ 9.89853289e-01 1.27487865e-01 -6.27479896e-02 -7.73647709e+01] [-1.27257395e-01 9.91840053e-01 7.67226152e-03 5.51461758e+00] [ 6.32140896e-02 3.90732430e-04 9.97999913e-01 -4.78725534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79534707 meters 0.01144799073643082 Centerline is valid? [True, True] Translation: X:-77.42, Y:5.51, Z:-4.79 [[ 9.90507490e-01 1.21112626e-01 -6.50126509e-02 -7.74247114e+01] [-1.20850940e-01 9.92638772e-01 7.95732769e-03 5.51377216e+00] [ 6.54978108e-02 -2.49526882e-05 9.97852713e-01 -4.78832209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85534707000001 meters 0.011840163067596707 Centerline is valid? [True, True] Translation: X:-77.48, Y:5.51, Z:-4.79 [[ 9.90950678e-01 1.13628150e-01 -7.14520662e-02 -7.74838775e+01] [-1.13290257e-01 9.93523165e-01 8.77710661e-03 5.51230580e+00] [ 7.19866094e-02 -6.02856841e-04 9.97405416e-01 -4.79068867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91534707 meters 0.012862833971135454 Centerline is valid? [True, True] Translation: X:-77.54, Y:5.51, Z:-4.79 [[ 9.91649500e-01 1.05210592e-01 -7.45788165e-02 -7.75431807e+01] [-1.04816670e-01 9.94449123e-01 9.18735489e-03 5.50974571e+00] [ 7.51314457e-02 -1.29353269e-03 9.97172800e-01 -4.79243943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97534707 meters 0.013381967043855384 Centerline is valid? [True, True] Translation: X:-77.60, Y:5.51, Z:-4.79 [[ 9.92650801e-01 9.48738082e-02 -7.51222213e-02 -7.76027433e+01] [-9.44439937e-02 9.95487095e-01 9.26151759e-03 5.51277996e+00] [ 7.56618773e-02 -2.09861025e-03 9.97131323e-01 -4.78739654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03534707 meters 0.014212708863135913 Centerline is valid? [True, True] Translation: X:-77.66, Y:5.51, Z:-4.79 [[ 9.92585192e-01 9.35119118e-02 -7.76540974e-02 -7.76621115e+01] [-9.30477251e-02 9.95615537e-01 9.58247182e-03 5.51486094e+00] [ 7.82097012e-02 -2.28588252e-03 9.96934309e-01 -4.78859981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09534707 meters 0.014561231162433668 Centerline is valid? [True, True] Translation: X:-77.72, Y:5.52, Z:-4.79 [[ 9.92482093e-01 9.44385434e-02 -7.78502163e-02 -7.77202424e+01] [-9.39725176e-02 9.95528155e-01 9.63629865e-03 5.52170079e+00] [ 7.84121202e-02 -2.24807303e-03 9.96918495e-01 -4.79345882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15534707 meters 0.014064631846155154 Centerline is valid? [True, True] Translation: X:-77.78, Y:5.53, Z:-4.80 [[ 9.91997888e-01 9.84089928e-02 -7.90939922e-02 -7.77788176e+01] [-9.79389260e-02 9.95144075e-01 9.81007864e-03 5.52729682e+00] [ 7.96753176e-02 -1.98519665e-03 9.96818892e-01 -4.79519909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21534707 meters 0.012404156455942904 Centerline is valid? [True, True] Translation: X:-77.84, Y:5.54, Z:-4.80 [[ 9.91162810e-01 1.05956283e-01 -7.98094633e-02 -7.78369716e+01] [-1.05500021e-01 9.94369780e-01 9.92400038e-03 5.53758765e+00] [ 8.04116287e-02 -1.41640006e-03 9.96760735e-01 -4.79839267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27534707 meters 0.01167225581152503 Centerline is valid? [True, True] Translation: X:-77.90, Y:5.54, Z:-4.80 [[ 9.90619567e-01 1.10560355e-01 -8.03074137e-02 -7.78951869e+01] [-1.10112779e-01 9.93868849e-01 9.99433890e-03 5.54494826e+00] [ 8.09200145e-02 -1.05771520e-03 9.96720037e-01 -4.80134523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33534707 meters 0.011530001449735193 Centerline is valid? [True, True] Translation: X:-77.95, Y:5.55, Z:-4.80 [[ 9.90261285e-01 1.13170772e-01 -8.10861480e-02 -7.79541620e+01] [-1.12720929e-01 9.93575162e-01 1.01188206e-02 5.54794139e+00] [ 8.17103373e-02 -8.80170287e-04 9.96655731e-01 -4.80493906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39534707 meters 0.013894134074111825 Centerline is valid? [True, True] Translation: X:-78.01, Y:5.55, Z:-4.81 [[ 9.90131711e-01 1.14280018e-01 -8.11127093e-02 -7.80124514e+01] [-1.13831318e-01 9.93448243e-01 1.01498966e-02 5.55114111e+00] [ 8.17412089e-02 -8.16567868e-04 9.96653254e-01 -4.80816412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45534707 meters 0.011167798090422726 Centerline is valid? [True, True] Translation: X:-78.07, Y:5.55, Z:-4.81 [[ 9.90295575e-01 1.12755002e-01 -8.12464339e-02 -7.80704407e+01] [-1.12297528e-01 9.93622347e-01 1.01929916e-02 5.55495147e+00] [ 8.18775831e-02 -9.70300813e-04 9.96641922e-01 -4.81067428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51534707 meters 0.011333284913953603 Centerline is valid? [True, True] Translation: X:-78.13, Y:5.56, Z:-4.81 [[ 9.90458209e-01 1.10591908e-01 -8.22311724e-02 -7.81290737e+01] [-1.10114996e-01 9.93865209e-01 1.03263554e-02 5.55622022e+00] [ 8.28687127e-02 -1.17293825e-03 9.96559783e-01 -4.81147113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57534707 meters 0.011935375637056734 Centerline is valid? [True, True] Translation: X:-78.19, Y:5.56, Z:-4.82 [[ 9.90587110e-01 1.09353923e-01 -8.23340545e-02 -7.81884137e+01] [-1.08870372e-01 9.94002037e-01 1.03533746e-02 5.55726734e+00] [ 8.29724000e-02 -1.29218027e-03 9.96551008e-01 -4.81777386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63534707 meters 0.014236906701483622 Centerline is valid? [True, True] Translation: X:-78.25, Y:5.56, Z:-4.82 [[ 9.90345611e-01 1.11139845e-01 -8.28462717e-02 -7.82476813e+01] [-1.10654088e-01 9.93804079e-01 1.04463476e-02 5.55957852e+00] [ 8.34939682e-02 -1.17821587e-03 9.96507586e-01 -4.82149004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69534707 meters 0.012988852102978347 Centerline is valid? [True, True] Translation: X:-78.31, Y:5.56, Z:-4.83 [[ 9.90309681e-01 1.11175492e-01 -8.32270676e-02 -7.83052095e+01] [-1.10683474e-01 9.93800062e-01 1.05169453e-02 5.56341182e+00] [ 8.38802914e-02 -1.20317181e-03 9.96475112e-01 -4.82562941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75534707 meters 0.011578859908027662 Centerline is valid? [True, True] Translation: X:-78.36, Y:5.57, Z:-4.83 [[ 9.90300379e-01 1.11010157e-01 -8.35577886e-02 -7.83631180e+01] [-1.10512845e-01 9.93818509e-01 1.05679636e-02 5.56738758e+00] [ 8.42144282e-02 -1.23124934e-03 9.96446895e-01 -4.82879363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81534707 meters 0.012097887649127458 Centerline is valid? [True, True] Translation: X:-78.42, Y:5.57, Z:-4.84 [[ 9.90137862e-01 1.11999899e-01 -8.41607819e-02 -7.84209541e+01] [-1.11497700e-01 9.93707529e-01 1.06587528e-02 5.57027560e+00] [ 8.48249819e-02 -1.16990109e-03 9.96395180e-01 -4.83564843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87534707 meters 0.011485065429839398 Centerline is valid? [True, True] Translation: X:-78.48, Y:5.58, Z:-4.84 [[ 9.90045720e-01 1.12706796e-01 -8.43009520e-02 -7.84788955e+01] [-1.12203304e-01 9.93627640e-01 1.07019753e-02 5.57566234e+00] [ 8.49699413e-02 -1.13659951e-03 9.96382867e-01 -4.83698372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93534707 meters 0.0101599093845029 Centerline is valid? [True, True] Translation: X:-78.54, Y:5.59, Z:-4.84 [[ 9.88792138e-01 1.21696491e-01 -8.64874122e-02 -7.85355355e+01] [-1.21199834e-01 9.92567285e-01 1.09901884e-02 5.58508690e+00] [ 8.71820433e-02 -3.84751939e-04 9.96192322e-01 -4.84121189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99534707000001 meters 0.011592402449188813 Centerline is valid? [True, True] Translation: X:-78.59, Y:5.60, Z:-4.85 [[ 9.87394039e-01 1.33122351e-01 -8.56238919e-02 -7.85921188e+01] [-1.32676970e-01 9.91099429e-01 1.08969200e-02 5.59755304e+00] [ 8.63124140e-02 6.00764640e-04 9.96267939e-01 -4.85471344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05534707 meters 0.012068585659309508 Centerline is valid? [True, True] Translation: X:-78.65, Y:5.60, Z:-4.85 [[ 9.86309897e-01 1.40333861e-01 -8.65978950e-02 -7.86494467e+01] [-1.39903490e-01 9.90103492e-01 1.10493389e-02 5.60454399e+00] [ 8.72914747e-02 1.21727538e-03 9.96182070e-01 -4.85439540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11534707 meters 0.012368677667617048 Centerline is valid? [True, True] Translation: X:-78.71, Y:5.60, Z:-4.86 [[ 9.85650857e-01 1.44520555e-01 -8.72135101e-02 -7.87084677e+01] [-1.44099072e-01 9.89500530e-01 1.11426761e-02 5.60475500e+00] [ 8.79081602e-02 1.58459758e-03 9.96127323e-01 -4.85870094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17534707 meters 0.01386966200633655 Centerline is valid? [True, True] Translation: X:-78.77, Y:5.60, Z:-4.87 [[ 9.85372352e-01 1.46277563e-01 -8.74311269e-02 -7.87679077e+01] [-1.45858385e-01 9.89242096e-01 1.11985658e-02 5.60455533e+00] [ 8.81286501e-02 1.71780587e-03 9.96107620e-01 -4.86559621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23534707 meters 0.013092750966160093 Centerline is valid? [True, True] Translation: X:-78.83, Y:5.60, Z:-4.87 [[ 9.85195161e-01 1.47312786e-01 -8.76894432e-02 -7.88276220e+01] [-1.46892611e-01 9.89088343e-01 1.12609826e-02 5.59772777e+00] [ 8.83914928e-02 1.78666579e-03 9.96084209e-01 -4.86878920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29534707 meters 0.012839003508501623 Centerline is valid? [True, True] Translation: X:-78.89, Y:5.59, Z:-4.87 [[ 9.85191287e-01 1.47110897e-01 -8.80710674e-02 -7.88868498e+01] [-1.46683697e-01 9.89118461e-01 1.13386114e-02 5.59234052e+00] [ 8.87807519e-02 1.74788860e-03 9.96049659e-01 -4.87123967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35534707000001 meters 0.014289528049438375 Centerline is valid? [True, True] Translation: X:-78.95, Y:5.59, Z:-4.88 [[ 9.84821559e-01 1.49651679e-01 -8.79253707e-02 -7.89458216e+01] [-1.49233077e-01 9.88736875e-01 1.13526026e-02 5.59430335e+00] [ 8.86339923e-02 1.94108590e-03 9.96062371e-01 -4.88180634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41534707 meters 0.015501234183203505 Centerline is valid? [True, True] Translation: X:-79.00, Y:5.59, Z:-4.88 [[ 9.84597653e-01 1.51114240e-01 -8.79315008e-02 -7.90047406e+01] [-1.50699202e-01 9.88514183e-01 1.13780540e-02 5.59280402e+00] [ 8.86409217e-02 2.04840166e-03 9.96061540e-01 -4.88065393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47534707 meters 0.014653749129483229 Centerline is valid? [True, True] Translation: X:-79.06, Y:5.59, Z:-4.89 [[ 9.84765017e-01 1.50240729e-01 -8.75533256e-02 -7.90637429e+01] [-1.49824522e-01 9.88647527e-01 1.13436858e-02 5.59381856e+00] [ 8.82636625e-02 1.94677030e-03 9.96095244e-01 -4.88627311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53534707 meters 0.012881249149861395 Centerline is valid? [True, True] Translation: X:-79.12, Y:5.59, Z:-4.89 [[ 9.85015072e-01 1.48723190e-01 -8.73310922e-02 -7.91226734e+01] [-1.48301041e-01 9.88877260e-01 1.13386955e-02 5.58873137e+00] [ 8.80460581e-02 1.78250590e-03 9.96114810e-01 -4.88815408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59534707 meters 0.013287173371629364 Centerline is valid? [True, True] Translation: X:-79.18, Y:5.59, Z:-4.89 [[ 9.85007943e-01 1.48959853e-01 -8.70075568e-02 -7.91807354e+01] [-1.48540338e-01 9.88841641e-01 1.13127281e-02 5.58945041e+00] [ 8.77218376e-02 1.78100486e-03 9.96143417e-01 -4.89403653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65534707 meters 0.013094834980489672 Centerline is valid? [True, True] Translation: X:-79.24, Y:5.59, Z:-4.90 [[ 9.85002698e-01 1.48405169e-01 -8.80090333e-02 -7.92395412e+01] [-1.47970725e-01 9.88925150e-01 1.14765549e-02 5.58934812e+00] [ 8.87375266e-02 1.71832292e-03 9.96053562e-01 -4.89663034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71534707 meters 0.013290592454709017 Centerline is valid? [True, True] Translation: X:-79.30, Y:5.59, Z:-4.90 [[ 9.84798908e-01 1.50540085e-01 -8.66532975e-02 -7.92974895e+01] [-1.50124429e-01 9.88602175e-01 1.13311512e-02 5.59358799e+00] [ 8.73714308e-02 1.84987145e-03 9.96174087e-01 -4.89916188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77534707 meters 0.014012083840396625 Centerline is valid? [True, True] Translation: X:-79.35, Y:5.60, Z:-4.90 [[ 9.84275570e-01 1.53711687e-01 -8.70305672e-02 -7.93548400e+01] [-1.53302440e-01 9.88113478e-01 1.14068367e-02 5.59867761e+00] [ 8.77494406e-02 2.11452754e-03 9.96140334e-01 -4.90401493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83534707 meters 0.015137094238867594 Centerline is valid? [True, True] Translation: X:-79.41, Y:5.60, Z:-4.91 [[ 9.83483118e-01 1.58573501e-01 -8.72662684e-02 -7.94131332e+01] [-1.58180246e-01 9.87343894e-01 1.14474558e-02 5.60420847e+00] [ 8.79770804e-02 2.54542023e-03 9.96119247e-01 -4.90942143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89534707 meters 0.015115317468714385 Centerline is valid? [True, True] Translation: X:-79.47, Y:5.61, Z:-4.91 [[ 9.83555044e-01 1.58396142e-01 -8.67763596e-02 -7.94715190e+01] [-1.58005428e-01 9.87372474e-01 1.13965976e-02 5.60985179e+00] [ 8.74857660e-02 2.50195474e-03 9.96162628e-01 -4.91312504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95534707 meters 0.016681310001562734 Centerline is valid? [True, True] Translation: X:-79.53, Y:5.62, Z:-4.92 [[ 9.83095319e-01 1.61229771e-01 -8.67672449e-02 -7.95294849e+01] [-1.60847596e-01 9.86913134e-01 1.14243520e-02 5.61780531e+00] [ 8.74736793e-02 2.72507583e-03 9.96163104e-01 -4.92283526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01534707 meters 0.01690552128969573 Centerline is valid? [True, True] Translation: X:-79.59, Y:5.62, Z:-4.93 [[ 9.82990405e-01 1.61682575e-01 -8.71126256e-02 -7.95875118e+01] [-1.61296523e-01 9.86838993e-01 1.14993100e-02 5.62321688e+00] [ 8.78253738e-02 2.74725222e-03 9.96132098e-01 -4.92815934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07534707 meters 0.01719165306347882 Centerline is valid? [True, True] Translation: X:-79.65, Y:5.63, Z:-4.93 [[ 9.83365317e-01 1.60018544e-01 -8.59460221e-02 -7.96457553e+01] [-1.59634221e-01 9.87110745e-01 1.13707119e-02 5.62622566e+00] [ 8.66577666e-02 2.53836264e-03 9.96234906e-01 -4.93433483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13534707 meters 0.013735031335873404 Centerline is valid? [True, True] Translation: X:-79.71, Y:5.62, Z:-4.94 [[ 9.84352487e-01 1.53865977e-01 -8.58803911e-02 -7.97052182e+01] [-1.53458101e-01 9.88089731e-01 1.13707904e-02 5.62314158e+00] [ 8.66071103e-02 1.98617598e-03 9.96240565e-01 -4.93540900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19534707 meters 0.012764367991920367 Centerline is valid? [True, True] Translation: X:-79.77, Y:5.62, Z:-4.94 [[ 9.85302472e-01 1.47963867e-01 -8.53565046e-02 -7.97653041e+01] [-1.47538048e-01 9.88991706e-01 1.13106153e-02 5.62388422e+00] [ 8.60904375e-02 1.44895487e-03 9.96286273e-01 -4.94042328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25534707 meters 0.011174731002482017 Centerline is valid? [True, True] Translation: X:-79.83, Y:5.62, Z:-4.94 [[ 9.86381736e-01 1.41365125e-01 -8.40652898e-02 -7.98254652e+01] [-1.40926812e-01 9.89957166e-01 1.11554269e-02 5.62233347e+00] [ 8.47980244e-02 8.43544002e-04 9.96397804e-01 -4.94065133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31534707 meters 0.010612266316905017 Centerline is valid? [True, True] Translation: X:-79.88, Y:5.62, Z:-4.94 [[ 9.87075481e-01 1.35948789e-01 -8.48523483e-02 -7.98834696e+01] [-1.35481645e-01 9.90715795e-01 1.12666593e-02 5.62195101e+00] [ 8.55962503e-02 3.74892534e-04 9.96329836e-01 -4.94407504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37534707 meters 0.010556339660779793 Centerline is valid? [True, True] Translation: X:-79.94, Y:5.62, Z:-4.95 [[ 9.88064478e-01 1.29076353e-01 -8.40706943e-02 -7.99425814e+01] [-1.28591741e-01 9.91634631e-01 1.11769018e-02 5.61987820e+00] [ 8.48100856e-02 -2.32702749e-04 9.96397107e-01 -4.95169197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43534707 meters 0.010361803903308464 Centerline is valid? [True, True] Translation: X:-80.00, Y:5.62, Z:-4.95 [[ 9.88834895e-01 1.22710837e-01 -8.45434883e-02 -8.00011422e+01] [-1.22195402e-01 9.92442138e-01 1.12643647e-02 5.62120495e+00] [ 8.52867799e-02 -8.07771369e-04 9.96356117e-01 -4.95249107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49534707000001 meters 0.011330383403463744 Centerline is valid? [True, True] Translation: X:-80.06, Y:5.62, Z:-4.95 [[ 9.89930106e-01 1.14388471e-01 -8.33886272e-02 -8.00605996e+01] [-1.13856335e-01 9.93434936e-01 1.11248904e-02 5.62282209e+00] [ 8.41137347e-02 -1.51854050e-03 9.96455003e-01 -4.95320534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55534707 meters 0.013595616074271667 Centerline is valid? [True, True] Translation: X:-80.12, Y:5.62, Z:-4.96 [[ 9.90427501e-01 1.10539098e-01 -8.26708674e-02 -8.01200014e+01] [-1.10000288e-01 9.93870039e-01 1.10581560e-02 5.62284712e+00] [ 8.33864567e-02 -1.85848264e-03 9.96515552e-01 -4.96055396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61534707 meters 0.013682233732656769 Centerline is valid? [True, True] Translation: X:-80.18, Y:5.63, Z:-4.96 [[ 9.90930574e-01 1.06140097e-01 -8.24067850e-02 -8.01772307e+01] [-1.05587450e-01 9.94348647e-01 1.10479870e-02 5.63075552e+00] [ 8.31137096e-02 -2.24666577e-03 9.96537538e-01 -4.96484456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67534707 meters 0.016138086974231934 Centerline is valid? [True, True] Translation: X:-80.24, Y:5.63, Z:-4.97 [[ 9.91425633e-01 1.01909211e-01 -8.17907458e-02 -8.02369820e+01] [-1.01349572e-01 9.94790326e-01 1.09759809e-02 5.63167844e+00] [ 8.24831962e-02 -2.59241168e-03 9.96589084e-01 -4.96974570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73534707 meters 0.016907578212265472 Centerline is valid? [True, True] Translation: X:-80.30, Y:5.64, Z:-4.97 [[ 9.92079897e-01 9.59151024e-02 -8.11034541e-02 -8.02954515e+01] [-9.53439176e-02 9.95384765e-01 1.08953147e-02 5.64075428e+00] [ 8.17741678e-02 -3.07630160e-03 9.96646137e-01 -4.96893491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79534707 meters 0.017377488094985485 Centerline is valid? [True, True] Translation: X:-80.35, Y:5.65, Z:-4.97 [[ 9.92443745e-01 9.21091352e-02 -8.10636815e-02 -8.03529190e+01] [-9.15251950e-02 9.95743126e-01 1.08979868e-02 5.65375275e+00] [ 8.17224078e-02 -3.39626962e-03 9.96649343e-01 -4.96994795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85534707000001 meters 0.018725643963911756 Centerline is valid? [True, True] Translation: X:-80.41, Y:5.66, Z:-4.98 [[ 9.92091013e-01 9.55771206e-02 -8.13660657e-02 -8.04114859e+01] [-9.49986922e-02 9.95417065e-01 1.09597063e-02 5.66173969e+00] [ 8.20406674e-02 -3.14335634e-03 9.96624026e-01 -4.97981368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91534707 meters 0.015209247242403417 Centerline is valid? [True, True] Translation: X:-80.47, Y:5.69, Z:-4.98 [[ 9.91223974e-01 1.03524069e-01 -8.22058408e-02 -8.04666059e+01] [-1.02960504e-01 9.94623767e-01 1.10768332e-02 5.69211209e+00] [ 8.29106019e-02 -2.51566788e-03 9.96553814e-01 -4.98108594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97534707 meters 0.014618193773720081 Centerline is valid? [True, True] Translation: X:-80.52, Y:5.71, Z:-4.99 [[ 9.90493475e-01 1.09962704e-01 -8.26491330e-02 -8.05237264e+01] [-1.09415070e-01 9.93933719e-01 1.11401876e-02 5.71176051e+00] [ 8.33727653e-02 -1.99122250e-03 9.96516441e-01 -4.98935861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03534707 meters 0.015265791537716561 Centerline is valid? [True, True] Translation: X:-80.58, Y:5.72, Z:-4.99 [[ 9.90699136e-01 1.09671362e-01 -8.05444849e-02 -8.05816612e+01] [-1.09149733e-01 9.93965947e-01 1.08642167e-02 5.72448031e+00] [ 8.12499687e-02 -1.97176108e-03 9.96691805e-01 -4.99099239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09534707 meters 0.015667979968297406 Centerline is valid? [True, True] Translation: X:-80.64, Y:5.74, Z:-5.00 [[ 9.90951090e-01 1.07410062e-01 -8.04923361e-02 -8.06400373e+01] [-1.06879689e-01 9.94212415e-01 1.08814396e-02 5.73535578e+00] [ 8.11952560e-02 -2.17997861e-03 9.96695830e-01 -4.99512313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15534707 meters 0.016270778635370343 Centerline is valid? [True, True] Translation: X:-80.70, Y:5.74, Z:-5.00 [[ 9.91066311e-01 1.05104506e-01 -8.21012183e-02 -8.06968911e+01] [-1.04543094e-01 9.94458197e-01 1.11191884e-02 5.74303836e+00] [ 8.28149063e-02 -2.43673763e-03 9.96561967e-01 -5.00002687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21534707 meters 0.017473469227897494 Centerline is valid? [True, True] Translation: X:-80.76, Y:5.75, Z:-5.00 [[ 9.91529820e-01 1.01511149e-01 -8.10191458e-02 -8.07555047e+01] [-1.00951810e-01 9.94830713e-01 1.09810928e-02 5.75015286e+00] [ 8.17150379e-02 -2.70905164e-03 9.96652052e-01 -5.00107893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27534707 meters 0.01665040233855213 Centerline is valid? [True, True] Translation: X:-80.81, Y:5.76, Z:-5.00 [[ 9.91525705e-01 1.01857076e-01 -8.06344403e-02 -8.08124715e+01] [-1.01303577e-01 9.94795446e-01 1.09364559e-02 5.76146643e+00] [ 8.13287295e-02 -2.67521989e-03 9.96683742e-01 -4.99877404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33534707 meters 0.01538070715355616 Centerline is valid? [True, True] Translation: X:-80.87, Y:5.77, Z:-5.00 [[ 9.91066979e-01 1.05631275e-01 -8.14142359e-02 -8.08688660e+01] [-1.05078807e-01 9.94402472e-01 1.10529227e-02 5.77179201e+00] [ 8.21260517e-02 -2.39927593e-03 9.96619062e-01 -5.00329179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39534707 meters 0.013533196070447008 Centerline is valid? [True, True] Translation: X:-80.93, Y:5.79, Z:-5.00 [[ 9.90333793e-01 1.11698861e-01 -8.22334607e-02 -8.09262477e+01] [-1.11154816e-01 9.93740227e-01 1.11789212e-02 5.78649671e+00] [ 8.29673707e-02 -1.93021824e-03 9.96550395e-01 -5.00400998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45534707 meters 0.011815182854640114 Centerline is valid? [True, True] Translation: X:-80.98, Y:5.80, Z:-5.01 [[ 9.89280869e-01 1.20286823e-01 -8.27915646e-02 -8.09845576e+01] [-1.19764833e-01 9.92738425e-01 1.12607267e-02 5.79749115e+00] [ 8.35448845e-02 -1.22450353e-03 9.96503263e-01 -5.00641927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51534707 meters 0.01247794983648741 Centerline is valid? [True, True] Translation: X:-81.04, Y:5.81, Z:-5.01 [[ 9.88637140e-01 1.25563915e-01 -8.26456802e-02 -8.10427352e+01] [-1.25061278e-01 9.92085219e-01 1.12514075e-02 5.80597178e+00] [ 8.34043285e-02 -7.87784921e-04 9.96515478e-01 -5.00772090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57534707 meters 0.01276701385967264 Centerline is valid? [True, True] Translation: X:-81.10, Y:5.81, Z:-5.02 [[ 9.87379939e-01 1.33870386e-01 -8.46142792e-02 -8.11005266e+01] [-1.33371342e-01 9.90998842e-01 1.15490003e-02 5.81253522e+00] [ 8.53987218e-02 -1.18131264e-04 9.96346849e-01 -5.01508873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63534707 meters 0.013946254931864145 Centerline is valid? [True, True] Translation: X:-81.16, Y:5.81, Z:-5.02 [[ 9.87526445e-01 1.32926787e-01 -8.43918785e-02 -8.11585853e+01] [-1.32424242e-01 9.91125833e-01 1.15500637e-02 5.81268253e+00] [ 8.51782837e-02 -2.30462814e-04 9.96365699e-01 -5.01604061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69534707 meters 0.014852822859508365 Centerline is valid? [True, True] Translation: X:-81.22, Y:5.81, Z:-5.02 [[ 9.87379429e-01 1.33897857e-01 -8.45767536e-02 -8.12172306e+01] [-1.33394023e-01 9.90995122e-01 1.16061365e-02 5.81183964e+00] [ 8.53691871e-02 -1.77627042e-04 9.96349372e-01 -5.02003975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75534707 meters 0.01507888908226506 Centerline is valid? [True, True] Translation: X:-81.28, Y:5.81, Z:-5.02 [[ 9.87231052e-01 1.34553545e-01 -8.52654303e-02 -8.12761257e+01] [-1.34041550e-01 9.90906313e-01 1.17278165e-02 5.81206383e+00] [ 8.60680725e-02 -1.48954234e-04 9.96289248e-01 -5.01748786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81534707 meters 0.015463254808126986 Centerline is valid? [True, True] Translation: X:-81.34, Y:5.81, Z:-5.03 [[ 9.86428419e-01 1.39415793e-01 -8.67306805e-02 -8.13354232e+01] [-1.38903391e-01 9.90233895e-01 1.19449204e-02 5.81405124e+00] [ 8.75489702e-02 2.64376690e-04 9.96160182e-01 -5.02521531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87534707 meters 0.01130116168405027 Centerline is valid? [True, True] Translation: X:-81.39, Y:5.82, Z:-5.03 [[ 9.85963237e-01 1.42512243e-01 -8.69871040e-02 -8.13937414e+01] [-1.42006151e-01 9.89792907e-01 1.20105619e-02 5.81981423e+00] [ 8.78108707e-02 5.10731274e-04 9.96137034e-01 -5.03031754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93534707 meters 0.011086780523498312 Centerline is valid? [True, True] Translation: X:-81.45, Y:5.83, Z:-5.03 [[ 9.85611470e-01 1.45051009e-01 -8.67769312e-02 -8.14517306e+01] [-1.44554522e-01 9.89423927e-01 1.20117727e-02 5.82747365e+00] [ 8.76014918e-02 7.05056881e-04 9.96155350e-01 -5.03402118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99534707000001 meters 0.01224724009722518 Centerline is valid? [True, True] Translation: X:-81.51, Y:5.83, Z:-5.04 [[ 9.84621873e-01 1.50791041e-01 -8.82146809e-02 -8.15101555e+01] [-1.50298023e-01 9.88564926e-01 1.22430164e-02 5.83443498e+00] [ 8.90520767e-02 1.20375045e-03 9.96026244e-01 -5.04260546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05534707 meters 0.010696322669258303 Centerline is valid? [True, True] Translation: X:-81.57, Y:5.83, Z:-5.04 [[ 9.85967490e-01 1.42955205e-01 -8.62085715e-02 -8.15704325e+01] [-1.42452551e-01 9.89729052e-01 1.19864615e-02 5.83190839e+00] [ 8.70366548e-02 4.62369524e-04 9.96205002e-01 -5.03555263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11534707 meters 0.01268691447696728 Centerline is valid? [True, True] Translation: X:-81.63, Y:5.83, Z:-5.05 [[ 9.86411148e-01 1.38298670e-01 -8.86934291e-02 -8.16300622e+01] [-1.37746712e-01 9.90390567e-01 1.23437081e-02 5.82780731e+00] [ 8.95482540e-02 4.12570365e-05 9.95982484e-01 -5.04647174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17534707 meters 0.012686635918809875 Centerline is valid? [True, True] Translation: X:-81.69, Y:5.83, Z:-5.05 [[ 9.86778679e-01 1.35571386e-01 -8.88157561e-02 -8.16878083e+01] [-1.35004349e-01 9.90767553e-01 1.23887620e-02 5.83405943e+00] [ 8.96753310e-02 -2.34452912e-04 9.95971024e-01 -5.05341669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23534707 meters 0.012966207880532939 Centerline is valid? [True, True] Translation: X:-81.74, Y:5.85, Z:-5.05 [[ 9.85746236e-01 1.42722174e-01 -8.90771553e-02 -8.17436119e+01] [-1.42178012e-01 9.89762715e-01 1.24571379e-02 5.85286057e+00] [ 8.99431569e-02 3.85235969e-04 9.95946826e-01 -5.05005133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29534707 meters 0.013150917880798123 Centerline is valid? [True, True] Translation: X:-81.80, Y:5.87, Z:-5.06 [[ 9.84592639e-01 1.49269068e-01 -9.10828279e-02 -8.18006247e+01] [-1.48725014e-01 9.88796136e-01 1.27699562e-02 5.86950966e+00] [ 9.19685077e-02 9.73089927e-04 9.95761441e-01 -5.05741111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35534707000001 meters 0.01478254354419438 Centerline is valid? [True, True] Translation: X:-81.86, Y:5.89, Z:-5.06 [[ 9.83902479e-01 1.54169758e-01 -9.03747570e-02 -8.18574820e+01] [-1.53652169e-01 9.88043394e-01 1.26989083e-02 5.88926997e+00] [ 9.12519693e-02 1.39179009e-03 9.95826863e-01 -5.05721410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41534707 meters 0.015912986318563072 Centerline is valid? [True, True] Translation: X:-81.91, Y:5.90, Z:-5.06 [[ 9.83130980e-01 1.57915025e-01 -9.22839209e-02 -8.19148310e+01] [-1.57389638e-01 9.87451148e-01 1.29897273e-02 5.90186127e+00] [ 9.31771367e-02 1.75392961e-03 9.95648003e-01 -5.06437846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47534707 meters 0.017222500376702525 Centerline is valid? [True, True] Translation: X:-81.97, Y:5.91, Z:-5.07 [[ 9.82079419e-01 1.62267208e-01 -9.58611871e-02 -8.19727699e+01] [-1.61720055e-01 9.86744305e-01 1.35018749e-02 5.91285196e+00] [ 9.67813920e-02 2.24276295e-03 9.95303136e-01 -5.07213124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53534707 meters 0.01557806322944049 Centerline is valid? [True, True] Translation: X:-82.03, Y:5.92, Z:-5.08 [[ 9.82402142e-01 1.60916018e-01 -9.48265096e-02 -8.20296572e+01] [-1.60373541e-01 9.86965914e-01 1.33645563e-02 5.92339787e+00] [ 9.57411039e-02 2.07829443e-03 9.95404100e-01 -5.08131595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59534707 meters 0.014985495549268707 Centerline is valid? [True, True] Translation: X:-82.09, Y:5.93, Z:-5.09 [[ 9.83077346e-01 1.57731044e-01 -9.31657129e-02 -8.20885830e+01] [-1.57191756e-01 9.87480609e-01 1.31453151e-02 5.93447887e+00] [ 9.40727591e-02 1.72202059e-03 9.95563836e-01 -5.08606053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65534707 meters 0.016466393103197523 Centerline is valid? [True, True] Translation: X:-82.15, Y:5.95, Z:-5.09 [[ 9.82208894e-01 1.62468558e-01 -9.41788508e-02 -8.21463839e+01] [-1.61936717e-01 9.86711326e-01 1.33138500e-02 5.94630516e+00] [ 9.50904207e-02 2.17403196e-03 9.95466265e-01 -5.09349090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71534707 meters 0.018778953901160838 Centerline is valid? [True, True] Translation: X:-82.20, Y:5.97, Z:-5.10 [[ 9.81725154e-01 1.65677901e-01 -9.36298792e-02 -8.22033643e+01] [-1.65164261e-01 9.86176891e-01 1.32629421e-02 5.96571858e+00] [ 9.45329996e-02 2.44374600e-03 9.95518729e-01 -5.10149183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77534707 meters 0.022010626090084914 Centerline is valid? [True, True] Translation: X:-82.26, Y:5.99, Z:-5.11 [[ 9.79856812e-01 1.75223036e-01 -9.57993482e-02 -8.22602561e+01] [-1.74728707e-01 9.84522817e-01 1.35905285e-02 5.98803166e+00] [ 9.66980178e-02 3.42212427e-03 9.95307883e-01 -5.10764222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83534707 meters 0.01857711663406249 Centerline is valid? [True, True] Translation: X:-82.32, Y:5.99, Z:-5.11 [[ 9.80029914e-01 1.73696475e-01 -9.68034228e-02 -8.23189133e+01] [-1.73183644e-01 9.84793708e-01 1.37396299e-02 5.99004723e+00] [ 9.77179270e-02 3.29952126e-03 9.95208682e-01 -5.10724823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89534707 meters 0.016879391440854253 Centerline is valid? [True, True] Translation: X:-82.38, Y:5.99, Z:-5.11 [[ 9.80399783e-01 1.70067450e-01 -9.94652066e-02 -8.23772634e+01] [-1.69506126e-01 9.85427836e-01 1.41298689e-02 5.99211536e+00] [ 1.00418814e-01 3.00704148e-03 9.94940712e-01 -5.10985734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95534707 meters 0.017236042471152367 Centerline is valid? [True, True] Translation: X:-82.44, Y:6.01, Z:-5.11 [[ 9.81710888e-01 1.63256132e-01 -9.79345054e-02 -8.24351729e+01] [-1.62676963e-01 9.86581126e-01 1.39243283e-02 6.00511946e+00] [ 9.88935666e-02 2.26202321e-03 9.95095446e-01 -5.11249852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01534707 meters 0.01818946018751549 Centerline is valid? [True, True] Translation: X:-82.49, Y:6.02, Z:-5.12 [[ 9.81443130e-01 1.63698160e-01 -9.98613801e-02 -8.24920172e+01] [-1.63097088e-01 9.86507694e-01 1.42094827e-02 6.01506742e+00] [ 1.00840086e-01 2.34130108e-03 9.94899892e-01 -5.11619009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07534707 meters 0.01574309254399515 Centerline is valid? [True, True] Translation: X:-82.55, Y:6.03, Z:-5.12 [[ 9.81920009e-01 1.61844832e-01 -9.81801730e-02 -8.25487916e+01] [-1.61253485e-01 9.86813978e-01 1.39816287e-02 6.02897893e+00] [ 9.91484215e-02 2.10305410e-03 9.95070434e-01 -5.11633163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13534707 meters 0.015997137747159808 Centerline is valid? [True, True] Translation: X:-82.61, Y:6.04, Z:-5.13 [[ 9.81851571e-01 1.62341367e-01 -9.80447476e-02 -8.26050420e+01] [-1.61752014e-01 9.86732358e-01 1.39835223e-02 6.04336486e+00] [ 9.90140292e-02 2.12919202e-03 9.95083760e-01 -5.12758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19534707 meters 0.014282743674065262 Centerline is valid? [True, True] Translation: X:-82.66, Y:6.05, Z:-5.13 [[ 9.82774379e-01 1.57219804e-01 -9.71414043e-02 -8.26641520e+01] [-1.56613087e-01 9.87562394e-01 1.38873537e-02 6.05238563e+00] [ 9.81165648e-02 1.56547981e-03 9.95173698e-01 -5.13215390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25534707 meters 0.013337338960746507 Centerline is valid? [True, True] Translation: X:-82.72, Y:6.06, Z:-5.14 [[ 9.84005020e-01 1.50170354e-01 -9.58278924e-02 -8.27233869e+01] [-1.49544547e-01 9.88659788e-01 1.37204912e-02 6.05681094e+00] [ 9.68015948e-02 8.29506483e-04 9.95303352e-01 -5.14008427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31534707 meters 0.012413178672797173 Centerline is valid? [True, True] Translation: X:-82.78, Y:6.06, Z:-5.15 [[ 9.85816504e-01 1.38413979e-01 -9.49072752e-02 -8.27830769e+01] [-1.37743260e-01 9.90374398e-01 1.36141507e-02 6.05568137e+00] [ 9.58781244e-02 -3.48216982e-04 9.95393020e-01 -5.14603775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37534707 meters 0.014626234752918245 Centerline is valid? [True, True] Translation: X:-82.84, Y:6.05, Z:-5.15 [[ 9.88019754e-01 1.22899573e-01 -9.33416323e-02 -8.28435087e+01] [-1.22179425e-01 9.92417392e-01 1.34129728e-02 6.04860236e+00] [ 9.42823080e-02 -1.84785517e-03 9.95543787e-01 -5.15159253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43534707 meters 0.019235528010592123 Centerline is valid? [True, True] Translation: X:-82.90, Y:6.04, Z:-5.16 [[ 9.89707150e-01 1.08829808e-01 -9.29291654e-02 -8.29048441e+01] [-1.08053420e-01 9.94055304e-01 1.33607741e-02 6.03933521e+00] [ 9.38307803e-02 -3.18193950e-03 9.95583075e-01 -5.15665128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49534707 meters 0.021902710943812714 Centerline is valid? [True, True] Translation: X:-82.96, Y:6.04, Z:-5.16 [[ 9.91063740e-01 9.69034128e-02 -9.16645585e-02 -8.29644635e+01] [-9.60967635e-02 9.95284686e-01 1.31835566e-02 6.03740177e+00] [ 9.25098630e-02 -4.25707753e-03 9.95702668e-01 -5.15928002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55534707 meters 0.02296037382671022 Centerline is valid? [True, True] Translation: X:-83.02, Y:6.04, Z:-5.16 [[ 9.91787879e-01 9.07604197e-02 -9.01074373e-02 -8.30235395e+01] [-8.99552593e-02 9.95861413e-01 1.29652344e-02 6.04110617e+00] [ 9.09112499e-02 -4.75312440e-03 9.95847655e-01 -5.16226537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61534707 meters 0.02645612205632108 Centerline is valid? [True, True] Translation: X:-83.08, Y:6.04, Z:-5.17 [[ 9.92053961e-01 8.91128939e-02 -8.88134652e-02 -8.30830067e+01] [-8.83231965e-02 9.96009752e-01 1.27901148e-02 6.03635121e+00] [ 8.95988416e-02 -4.84419487e-03 9.95966155e-01 -5.17199289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67534707 meters 0.023349515320494018 Centerline is valid? [True, True] Translation: X:-83.14, Y:6.05, Z:-5.17 [[ 9.92147219e-01 8.83597953e-02 -8.85236792e-02 -8.31394148e+01] [-8.75701518e-02 9.96076474e-01 1.27720709e-02 6.05054213e+00] [ 8.93048918e-02 -4.91974263e-03 9.95992185e-01 -5.16846892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73534707 meters 0.027478390724844634 Centerline is valid? [True, True] Translation: X:-83.20, Y:6.05, Z:-5.18 [[ 9.92547344e-01 8.68773799e-02 -8.54522777e-02 -8.31992666e+01] [-8.61350019e-02 9.96207005e-01 1.23435817e-02 6.04673401e+00] [ 8.62005357e-02 -4.89115716e-03 9.96265800e-01 -5.17924884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79534707 meters 0.02672577859384651 Centerline is valid? [True, True] Translation: X:-83.26, Y:6.06, Z:-5.18 [[ 9.92352622e-01 8.89607598e-02 -8.55701860e-02 -8.32575704e+01] [-8.82215429e-02 9.96023827e-01 1.23893260e-02 6.05502912e+00] [ 8.63321080e-02 -4.74544627e-03 9.96255112e-01 -5.18256704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85534707000001 meters 0.024592096749504907 Centerline is valid? [True, True] Translation: X:-83.32, Y:6.06, Z:-5.19 [[ 9.92212907e-01 9.17778046e-02 -8.42044100e-02 -8.33158895e+01] [-9.10703780e-02 9.95769573e-01 1.22124339e-02 6.06255655e+00] [ 8.49690197e-02 -4.44880711e-03 9.96373662e-01 -5.18645471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91534707 meters 0.021095147574356196 Centerline is valid? [True, True] Translation: X:-83.37, Y:6.07, Z:-5.18 [[ 9.92442411e-01 9.12071937e-02 -8.20932937e-02 -8.33727041e+01] [-9.05322197e-02 9.95822249e-01 1.19149610e-02 6.07293824e+00] [ 8.28370585e-02 -4.39282449e-03 9.96553423e-01 -5.18457233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97534707 meters 0.020311866333917846 Centerline is valid? [True, True] Translation: X:-83.43, Y:6.08, Z:-5.18 [[ 9.92639624e-01 8.97740111e-02 -8.12847129e-02 -8.34307669e+01] [-8.91059442e-02 9.95952055e-01 1.18167350e-02 6.07624712e+00] [ 8.20165125e-02 -4.48680829e-03 9.96620871e-01 -5.18217035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03534707 meters 0.0208436099323527 Centerline is valid? [True, True] Translation: X:-83.49, Y:6.07, Z:-5.19 [[ 9.92370923e-01 9.17170927e-02 -8.23888656e-02 -8.34913303e+01] [-9.10361592e-02 9.95775384e-01 1.19917400e-02 6.06995694e+00] [ 8.31406518e-02 -4.39988817e-03 9.96528109e-01 -5.18539629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09534707 meters 0.02083280794146155 Centerline is valid? [True, True] Translation: X:-83.55, Y:6.07, Z:-5.19 [[ 9.92514721e-01 9.03958534e-02 -8.21164919e-02 -8.35515269e+01] [-8.97124994e-02 9.95895635e-01 1.19812656e-02 6.06778262e+00] [ 8.28625126e-02 -4.52470673e-03 9.96550717e-01 -5.18554445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15534707 meters 0.02353776127183093 Centerline is valid? [True, True] Translation: X:-83.61, Y:6.06, Z:-5.19 [[ 9.92537919e-01 8.90715340e-02 -8.32750938e-02 -8.36131912e+01] [-8.83619253e-02 9.96014017e-01 1.21757281e-02 6.05567112e+00] [ 8.40276715e-02 -4.72652416e-03 9.96452212e-01 -5.18944655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21534707 meters 0.023272861621585164 Centerline is valid? [True, True] Translation: X:-83.67, Y:6.06, Z:-5.19 [[ 9.92378813e-01 9.00205039e-02 -8.41463092e-02 -8.36730400e+01] [-8.92978581e-02 9.95928764e-01 1.23202884e-02 6.05533803e+00] [ 8.49128083e-02 -4.71230798e-03 9.96377242e-01 -5.19220303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27534707 meters 0.020306144486693448 Centerline is valid? [True, True] Translation: X:-83.73, Y:6.07, Z:-5.19 [[ 9.91334977e-01 9.92483460e-02 -8.60507364e-02 -8.37306491e+01] [-9.85251089e-02 9.95054516e-01 1.26219530e-02 6.07220561e+00] [ 8.68778818e-02 -4.03442536e-03 9.96210800e-01 -5.19402148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33534707 meters 0.01863097791957612 Centerline is valid? [True, True] Translation: X:-83.79, Y:6.09, Z:-5.19 [[ 9.91007005e-01 1.03629112e-01 -8.46529582e-02 -8.37898097e+01] [-1.02944816e-01 9.94609514e-01 1.24209118e-02 6.08593038e+00] [ 8.54838057e-02 -3.59462739e-03 9.96333076e-01 -5.18984044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39534707 meters 0.01958839666457656 Centerline is valid? [True, True] Translation: X:-83.85, Y:6.09, Z:-5.20 [[ 9.90948439e-01 1.02297786e-01 -8.69272929e-02 -8.38488202e+01] [-1.01570680e-01 9.94746510e-01 1.27584584e-02 6.08764927e+00] [ 8.77757832e-02 -3.81371013e-03 9.96132957e-01 -5.19738569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45534707 meters 0.0209810134845253 Centerline is valid? [True, True] Translation: X:-83.91, Y:6.09, Z:-5.20 [[ 9.91513598e-01 9.60101168e-02 -8.76518284e-02 -8.39084441e+01] [-9.52456809e-02 9.95370570e-01 1.28720297e-02 6.08890176e+00] [ 8.84818954e-02 -4.41433436e-03 9.96068004e-01 -5.19589035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51534707 meters 0.02275291057390859 Centerline is valid? [True, True] Translation: X:-83.97, Y:6.09, Z:-5.20 [[ 9.92115767e-01 8.82898634e-02 -8.89449546e-02 -8.39679614e+01] [-8.74712582e-02 9.96081334e-01 1.30673013e-02 6.08702980e+00] [ 8.97501193e-02 -5.18414852e-03 9.95950822e-01 -5.19806803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57534707 meters 0.025384435476666547 Centerline is valid? [True, True] Translation: X:-84.03, Y:6.08, Z:-5.20 [[ 9.92597974e-01 8.27744557e-02 -8.88687305e-02 -8.40283444e+01] [-8.19348420e-02 9.96552104e-01 1.30608346e-02 6.08390686e+00] [ 8.96434239e-02 -5.68271261e-03 9.95957712e-01 -5.20323597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63534707 meters 0.02283320338438236 Centerline is valid? [True, True] Translation: X:-84.08, Y:6.10, Z:-5.20 [[ 9.92290724e-01 8.43006109e-02 -9.08434102e-02 -8.40848164e+01] [-8.34289805e-02 9.96424209e-01 1.33566758e-02 6.09761843e+00] [ 9.16445491e-02 -5.67473245e-03 9.95775614e-01 -5.20231607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69534707 meters 0.022072735153209642 Centerline is valid? [True, True] Translation: X:-84.14, Y:6.11, Z:-5.21 [[ 9.91621956e-01 9.15949438e-02 -9.10838169e-02 -8.41435539e+01] [-9.07480719e-02 9.95783660e-01 1.34048818e-02 6.10725152e+00] [ 9.19275959e-02 -5.02689437e-03 9.95753005e-01 -5.21011845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75534707 meters 0.02023836472694256 Centerline is valid? [True, True] Translation: X:-84.20, Y:6.12, Z:-5.21 [[ 9.91398525e-01 9.39460363e-02 -9.11213909e-02 -8.42006911e+01] [-9.31078703e-02 9.95565642e-01 1.34155189e-02 6.12256615e+00] [ 9.19776609e-02 -4.81600702e-03 9.95749424e-01 -5.20546675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81534707 meters 0.020659240078089402 Centerline is valid? [True, True] Translation: X:-84.26, Y:6.12, Z:-5.21 [[ 9.91084558e-01 9.54259768e-02 -9.29800057e-02 -8.42592353e+01] [-9.45580372e-02 9.95424995e-01 1.37060865e-02 6.12275040e+00] [ 9.38625384e-02 -4.79188383e-03 9.95573635e-01 -5.20947149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87534707 meters 0.023367024800938798 Centerline is valid? [True, True] Translation: X:-84.32, Y:6.12, Z:-5.21 [[ 9.91312972e-01 9.23356929e-02 -9.36627547e-02 -8.43187497e+01] [-9.14387125e-02 9.95714626e-01 1.38327989e-02 6.12379837e+00] [ 9.45386358e-02 -5.14823125e-03 9.95507881e-01 -5.21431795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93534707 meters 0.021458014776814027 Centerline is valid? [True, True] Translation: X:-84.38, Y:6.14, Z:-5.22 [[ 9.90675867e-01 9.71272003e-02 -9.55386526e-02 -8.43767272e+01] [-9.62154221e-02 9.95260443e-01 1.41153725e-02 6.13548083e+00] [ 9.64568283e-02 -4.79146713e-03 9.95325636e-01 -5.22403934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99534707 meters 0.02221120218381951 Centerline is valid? [True, True] Translation: X:-84.44, Y:6.14, Z:-5.22 [[ 9.90878444e-01 9.47809315e-02 -9.57939630e-02 -8.44370097e+01] [-9.38521863e-02 9.95485369e-01 1.41650070e-02 6.13762652e+00] [ 9.67040612e-02 -5.04532725e-03 9.95300391e-01 -5.22063124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05534707 meters 0.02286613882835786 Centerline is valid? [True, True] Translation: X:-84.50, Y:6.14, Z:-5.23 [[ 9.91032867e-01 9.10763034e-02 -9.77699540e-02 -8.44959537e+01] [-9.00886519e-02 9.95828503e-01 1.44785163e-02 6.14043379e+00] [ 9.86807567e-02 -5.54072218e-03 9.95103718e-01 -5.22892294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11534707 meters 0.021750563467002666 Centerline is valid? [True, True] Translation: X:-84.55, Y:6.15, Z:-5.23 [[ 9.90832817e-01 9.11399570e-02 -9.97187873e-02 -8.45531581e+01] [-9.01118952e-02 9.95822044e-01 1.47751019e-02 6.15250841e+00] [ 1.00648769e-01 -5.65380693e-03 9.94905955e-01 -5.22651589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17534707 meters 0.02403849793308932 Centerline is valid? [True, True] Translation: X:-84.61, Y:6.15, Z:-5.24 [[ 9.91075614e-01 8.89578956e-02 -9.92754720e-02 -8.46123092e+01] [-8.79270358e-02 9.96018151e-01 1.47200270e-02 6.15117429e+00] [ 1.00189635e-01 -5.85966186e-03 9.94951105e-01 -5.23798073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23534707 meters 0.02391307295510348 Centerline is valid? [True, True] Translation: X:-84.67, Y:6.16, Z:-5.23 [[ 9.91771618e-01 7.96808361e-02 -1.00199908e-01 -8.46708936e+01] [-7.85826802e-02 9.96796758e-01 1.48655552e-02 6.16128942e+00] [ 1.01063443e-01 -6.86925840e-03 9.94856268e-01 -5.23417037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29534707 meters 0.027394925470791136 Centerline is valid? [True, True] Translation: X:-84.73, Y:6.15, Z:-5.25 [[ 9.91942460e-01 7.23658911e-02 -1.03987177e-01 -8.47320390e+01] [-7.11417416e-02 9.97346738e-01 1.54381652e-02 6.14808966e+00] [ 1.04828468e-01 -7.91594269e-03 9.94458813e-01 -5.25454552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35534707000001 meters 0.034706597717945625 Centerline is valid? [True, True] Translation: X:-84.79, Y:6.14, Z:-5.26 [[ 9.92424845e-01 6.82813224e-02 -1.02130246e-01 -8.47937022e+01] [-6.70778149e-02 9.97632320e-01 1.51763459e-02 6.14085608e+00] [ 1.02924695e-01 -8.21070902e-03 9.94655263e-01 -5.25873272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41534707 meters 0.034342658963144874 Centerline is valid? [True, True] Translation: X:-84.85, Y:6.15, Z:-5.24 [[ 9.92776491e-01 6.27316147e-02 -1.02272104e-01 -8.48521898e+01] [-6.14946547e-02 9.97991572e-01 1.52062513e-02 6.15433752e+00] [ 1.03020611e-01 -8.80722109e-03 9.94640230e-01 -5.24400038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47534707 meters 0.03281756076035893 Centerline is valid? [True, True] Translation: X:-84.91, Y:6.17, Z:-5.25 [[ 9.92162849e-01 6.74534355e-02 -1.05180395e-01 -8.49106218e+01] [-6.61704243e-02 9.97685685e-01 1.56444585e-02 6.16701460e+00] [ 1.05992247e-01 -8.56201915e-03 9.94330094e-01 -5.25039118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53534707 meters 0.03207975523447997 Centerline is valid? [True, True] Translation: X:-84.97, Y:6.17, Z:-5.26 [[ 9.92225059e-01 7.08410506e-02 -1.02327796e-01 -8.49708170e+01] [-6.96444661e-02 9.97455704e-01 1.52238740e-02 6.16755847e+00] [ 1.03145919e-01 -7.97894457e-03 9.94634232e-01 -5.25992876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59534707 meters 0.03145437087275311 Centerline is valid? [True, True] Translation: X:-85.03, Y:6.18, Z:-5.26 [[ 9.91624621e-01 7.65404264e-02 -1.04029680e-01 -8.50289065e+01] [-7.53342101e-02 9.97038164e-01 1.54808569e-02 6.18314350e+00] [ 1.04906473e-01 -7.51420511e-03 9.94453704e-01 -5.25600091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65534707 meters 0.031327828186916186 Centerline is valid? [True, True] Translation: X:-85.09, Y:6.19, Z:-5.26 [[ 9.91211563e-01 8.11001261e-02 -1.04510324e-01 -8.50876688e+01] [-7.99074267e-02 9.96680896e-01 1.55561774e-02 6.19306186e+00] [ 1.05425051e-01 -7.06831189e-03 9.94402131e-01 -5.25900441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71534707 meters 0.02890030892014048 Centerline is valid? [True, True] Translation: X:-85.14, Y:6.21, Z:-5.26 [[ 9.91169098e-01 8.15004217e-02 -1.04601631e-01 -8.51440423e+01] [-8.03071145e-02 9.96648452e-01 1.55766110e-02 6.20804622e+00] [ 1.05520554e-01 -7.03880032e-03 9.94392210e-01 -5.25974236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77534707 meters 0.03116337955024533 Centerline is valid? [True, True] Translation: X:-85.20, Y:6.21, Z:-5.27 [[ 9.91347700e-01 8.20633596e-02 -1.02446782e-01 -8.52042159e+01] [-8.09209918e-02 9.96603626e-01 1.52645362e-02 6.20624177e+00] [ 1.03351493e-01 -6.84236763e-03 9.94621361e-01 -5.27190639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83534707 meters 0.03744541394150814 Centerline is valid? [True, True] Translation: X:-85.27, Y:6.19, Z:-5.28 [[ 9.92219535e-01 6.94107470e-02 -1.03356383e-01 -8.52659651e+01] [-6.81792012e-02 9.97554144e-01 1.54053670e-02 6.19390667e+00] [ 1.04172886e-01 -8.23875048e-03 9.94525079e-01 -5.27662264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89534707 meters 0.03610092593904462 Centerline is valid? [True, True] Translation: X:-85.33, Y:6.20, Z:-5.27 [[ 9.92883205e-01 5.74181366e-02 -1.04336465e-01 -8.53251644e+01] [-5.60966628e-02 9.98304109e-01 1.55585808e-02 6.20255231e+00] [ 1.05052866e-01 -9.59492610e-03 9.94420350e-01 -5.26987701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95534707 meters 0.03775666706088873 Centerline is valid? [True, True] Translation: X:-85.38, Y:6.21, Z:-5.27 [[ 9.93156784e-01 5.27341255e-02 -1.04205158e-01 -8.53849509e+01] [-5.13897318e-02 9.98557664e-01 1.55462975e-02 6.20739849e+00] [ 1.04874680e-01 -1.00848357e-02 9.94434310e-01 -5.27287840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01534707 meters 0.04402287351905022 Centerline is valid? [True, True] Translation: X:-85.45, Y:6.19, Z:-5.28 [[ 9.93831283e-01 4.27839818e-02 -1.02317703e-01 -8.54472483e+01] [-4.14354287e-02 9.99024486e-01 1.52702826e-02 6.19354587e+00] [ 1.02871214e-01 -1.09365067e-02 9.94634559e-01 -5.27846431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07534707 meters 0.048229296684201534 Centerline is valid? [True, True] Translation: X:-85.51, Y:6.19, Z:-5.28 [[ 9.93967750e-01 3.45127132e-02 -1.04100841e-01 -8.55077670e+01] [-3.30712319e-02 9.99332148e-01 1.55419101e-02 6.19456518e+00] [ 1.04567710e-01 -1.20054143e-02 9.94445305e-01 -5.28087669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13534707 meters 0.04692250320446557 Centerline is valid? [True, True] Translation: X:-85.57, Y:6.21, Z:-5.28 [[ 9.93971536e-01 3.18295275e-02 -1.04916475e-01 -8.55661731e+01] [-3.03500123e-02 9.99416514e-01 1.56687214e-02 6.20524286e+00] [ 1.05353986e-01 -1.23900468e-02 9.94357594e-01 -5.28441260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19534707 meters 0.04774268996875729 Centerline is valid? [True, True] Translation: X:-85.62, Y:6.22, Z:-5.29 [[ 9.93727891e-01 3.84711465e-02 -1.04999288e-01 -8.56249165e+01] [-3.70253159e-02 9.99191222e-01 1.56852767e-02 6.21608207e+00] [ 1.05517797e-01 -1.16992651e-02 9.94348592e-01 -5.28842892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25534707 meters 0.04753999865119607 Centerline is valid? [True, True] Translation: X:-85.68, Y:6.23, Z:-5.30 [[ 9.93365179e-01 4.56634707e-02 -1.05548421e-01 -8.56828926e+01] [-4.42420624e-02 9.98896357e-01 1.57704898e-02 6.23051299e+00] [ 1.06152069e-01 -1.09961756e-02 9.94289104e-01 -5.29592239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31534707 meters 0.040877505292312176 Centerline is valid? [True, True] Translation: X:-85.74, Y:6.26, Z:-5.30 [[ 9.93131871e-01 5.10175371e-02 -1.05291489e-01 -8.57385814e+01] [-4.96322845e-02 9.98643578e-01 1.57366207e-02 6.25844311e+00] [ 1.05951513e-01 -1.04026824e-02 9.94316882e-01 -5.29632158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37534707 meters 0.041915141487104186 Centerline is valid? [True, True] Translation: X:-85.80, Y:6.27, Z:-5.30 [[ 9.92751783e-01 5.55388266e-02 -1.06580189e-01 -8.57976901e+01] [-5.41444516e-02 9.98405966e-01 1.59344335e-02 6.26785950e+00] [ 1.07295276e-01 -1.00482114e-02 9.94176422e-01 -5.30058597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43534707 meters 0.03514626320685426 Centerline is valid? [True, True] Translation: X:-85.85, Y:6.30, Z:-5.30 [[ 9.91959630e-01 6.80299875e-02 -1.06714637e-01 -8.58530662e+01] [-6.67029594e-02 9.97645227e-01 1.59598483e-02 6.29662240e+00] [ 1.07549096e-01 -8.71334314e-03 9.94161591e-01 -5.29842982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49534707 meters 0.029683052974643298 Centerline is valid? [True, True] Translation: X:-85.91, Y:6.32, Z:-5.30 [[ 9.90534845e-01 8.40150067e-02 -1.08545843e-01 -8.59104125e+01] [-8.27362740e-02 9.96439161e-01 1.62390416e-02 6.32269813e+00] [ 1.09523652e-01 -7.10465786e-03 9.93958799e-01 -5.29719707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55534707 meters 0.02432748370232176 Centerline is valid? [True, True] Translation: X:-85.97, Y:6.35, Z:-5.31 [[ 9.88157671e-01 1.03721008e-01 -1.13076835e-01 -8.59658651e+01] [-1.02459867e-01 9.94593162e-01 1.69239019e-02 6.34959097e+00] [ 1.14220811e-01 -5.13764600e-03 9.93442102e-01 -5.31106194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61534707 meters 0.019665952246377745 Centerline is valid? [True, True] Translation: X:-86.02, Y:6.38, Z:-5.31 [[ 9.87996155e-01 1.09509056e-01 -1.08955795e-01 -8.60216070e+01] [-1.08372696e-01 9.93976448e-01 1.63150145e-02 6.37750324e+00] [ 1.10086136e-01 -4.31133827e-03 9.93912700e-01 -5.30978459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67534707 meters 0.017714307480282656 Centerline is valid? [True, True] Translation: X:-86.08, Y:6.39, Z:-5.32 [[ 9.87114890e-01 1.16869578e-01 -1.09296365e-01 -8.60794443e+01] [-1.15769667e-01 9.93141056e-01 1.63776197e-02 6.39449533e+00] [ 1.10460753e-01 -3.51338854e-03 9.93874277e-01 -5.31807467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73534707 meters 0.015846906010525935 Centerline is valid? [True, True] Translation: X:-86.14, Y:6.41, Z:-5.32 [[ 9.86593565e-01 1.21458498e-01 -1.08999864e-01 -8.61366551e+01] [-1.20391110e-01 9.92591966e-01 1.63452961e-02 6.41040504e+00] [ 1.10177665e-01 -3.00354932e-03 9.93907370e-01 -5.31975938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79534707 meters 0.016558321548801436 Centerline is valid? [True, True] Translation: X:-86.20, Y:6.41, Z:-5.33 [[ 9.86549789e-01 1.21147829e-01 -1.09739318e-01 -8.61955252e+01] [-1.20062525e-01 9.92629723e-01 1.64688242e-02 6.41368982e+00] [ 1.10925671e-01 -3.07173539e-03 9.93823958e-01 -5.33260570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85534707000001 meters 0.01751964491336701 Centerline is valid? [True, True] Translation: X:-86.25, Y:6.41, Z:-5.34 [[ 9.86456465e-01 1.20647051e-01 -1.11121244e-01 -8.62542868e+01] [-1.19527981e-01 9.92690327e-01 1.67025779e-02 6.41476798e+00] [ 1.12324101e-01 -3.19426797e-03 9.93666490e-01 -5.34024854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91534707 meters 0.018625835357286364 Centerline is valid? [True, True] Translation: X:-86.31, Y:6.42, Z:-5.34 [[ 9.87109718e-01 1.15386794e-01 -1.10906681e-01 -8.63126320e+01] [-1.14236191e-01 9.93313329e-01 1.66949889e-02 6.41843990e+00] [ 1.12091466e-01 -3.81022900e-03 9.93690588e-01 -5.34306295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97534707 meters 0.017380212400458193 Centerline is valid? [True, True] Translation: X:-86.37, Y:6.43, Z:-5.36 [[ 9.86230511e-01 1.21362727e-01 -1.12340853e-01 -8.63711064e+01] [-1.20218723e-01 9.92603103e-01 1.69274733e-02 6.42567317e+00] [ 1.13564244e-01 -3.18891677e-03 9.93525537e-01 -5.35652671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03534707 meters 0.017036511016004896 Centerline is valid? [True, True] Translation: X:-86.43, Y:6.44, Z:-5.36 [[ 9.86183441e-01 1.21534536e-01 -1.12568104e-01 -8.64285377e+01] [-1.20384761e-01 9.92582061e-01 1.69812126e-02 6.43522024e+00] [ 1.13796885e-01 -3.19510639e-03 9.93498898e-01 -5.35710352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09534707 meters 0.016612019818579477 Centerline is valid? [True, True] Translation: X:-86.49, Y:6.44, Z:-5.37 [[ 9.85655583e-01 1.24637331e-01 -1.13791950e-01 -8.64866207e+01] [-1.23480393e-01 9.92198158e-01 1.71874279e-02 6.44328463e+00] [ 1.15046358e-01 -2.88980958e-03 9.93355920e-01 -5.36547746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15534707 meters 0.015749434335807663 Centerline is valid? [True, True] Translation: X:-86.55, Y:6.45, Z:-5.37 [[ 9.85331423e-01 1.26244463e-01 -1.14823009e-01 -8.65455315e+01] [-1.25073171e-01 9.91995317e-01 1.73779637e-02 6.44919765e+00] [ 1.16097759e-01 -2.76177576e-03 9.93233952e-01 -5.37157973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21534707 meters 0.017161043243121427 Centerline is valid? [True, True] Translation: X:-86.60, Y:6.45, Z:-5.39 [[ 9.85535910e-01 1.25026790e-01 -1.14399616e-01 -8.66038659e+01] [-1.23851976e-01 9.92149043e-01 1.73483176e-02 6.45025621e+00] [ 1.15670474e-01 -2.92877156e-03 9.93283325e-01 -5.38677101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27534707 meters 0.016260426573394868 Centerline is valid? [True, True] Translation: X:-86.66, Y:6.46, Z:-5.38 [[ 9.85481829e-01 1.23913184e-01 -1.16065016e-01 -8.66622228e+01] [-1.22693178e-01 9.92288130e-01 1.76253235e-02 6.45888079e+00] [ 1.17353948e-01 -3.12905028e-03 9.93085223e-01 -5.37994539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33534707 meters 0.01611519884965024 Centerline is valid? [True, True] Translation: X:-86.72, Y:6.46, Z:-5.39 [[ 9.85428137e-01 1.24631900e-01 -1.15750925e-01 -8.67206809e+01] [-1.23420862e-01 9.92198339e-01 1.75996367e-02 6.46171184e+00] [ 1.17041352e-01 -3.05709820e-03 9.93122337e-01 -5.39179670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39534707 meters 0.015020835649327548 Centerline is valid? [True, True] Translation: X:-86.78, Y:6.47, Z:-5.39 [[ 9.85249891e-01 1.25251842e-01 -1.16596008e-01 -8.67777491e+01] [-1.24024125e-01 9.92120346e-01 1.77548541e-02 6.47293706e+00] [ 1.17901100e-01 -3.03225020e-03 9.93020713e-01 -5.39001765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45534707 meters 0.01397463575076733 Centerline is valid? [True, True] Translation: X:-86.84, Y:6.48, Z:-5.40 [[ 9.84215970e-01 1.32513578e-01 -1.17299089e-01 -8.68358237e+01] [-1.31319878e-01 9.91178758e-01 1.78818383e-02 6.48280369e+00] [ 1.18633951e-01 -2.19588882e-03 9.92935629e-01 -5.40258590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51534707 meters 0.01362338723498075 Centerline is valid? [True, True] Translation: X:-86.89, Y:6.50, Z:-5.41 [[ 9.82956515e-01 1.41344900e-01 -1.17550449e-01 -8.68924645e+01] [-1.40205042e-01 9.89959727e-01 1.79522833e-02 6.49744906e+00] [ 1.18907674e-01 -1.16514817e-03 9.92904632e-01 -5.41376224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57534707 meters 0.014910319443356348 Centerline is valid? [True, True] Translation: X:-86.95, Y:6.53, Z:-5.42 [[ 9.79570298e-01 1.60427029e-01 -1.21264993e-01 -8.69472462e+01] [-1.59355759e-01 9.87047024e-01 1.85449562e-02 6.52505463e+00] [ 1.22669363e-01 1.15818665e-03 9.92446918e-01 -5.41911032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63534707 meters 0.01668292179436096 Centerline is valid? [True, True] Translation: X:-87.00, Y:6.54, Z:-5.43 [[ 9.78258593e-01 1.68446747e-01 -1.20978591e-01 -8.70037375e+01] [-1.67438705e-01 9.85708443e-01 1.85241768e-02 6.54180613e+00] [ 1.22369956e-01 2.13506354e-03 9.92482259e-01 -5.42560893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69534707 meters 0.022057766603301394 Centerline is valid? [True, True] Translation: X:-87.06, Y:6.56, Z:-5.43 [[ 9.76169842e-01 1.81468007e-01 -1.19003372e-01 -8.70600152e+01] [-1.80585753e-01 9.83389970e-01 1.82469768e-02 6.56215033e+00] [ 1.20337965e-01 3.67816509e-03 9.92726168e-01 -5.43180956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75534707 meters 0.02107295481225327 Centerline is valid? [True, True] Translation: X:-87.12, Y:6.56, Z:-5.44 [[ 9.76316446e-01 1.80455168e-01 -1.19340391e-01 -8.71186980e+01] [-1.79558424e-01 9.83576813e-01 1.83146409e-02 6.55538979e+00] [ 1.20685413e-01 3.54768747e-03 9.92684464e-01 -5.44059757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81534707 meters 0.016510334236814927 Centerline is valid? [True, True] Translation: X:-87.18, Y:6.55, Z:-5.43 [[ 9.78265286e-01 1.69074949e-01 -1.20044544e-01 -8.71792293e+01] [-1.68079937e-01 9.85600879e-01 1.84402382e-02 6.55092554e+00] [ 1.21433790e-01 2.13763452e-03 9.92597232e-01 -5.42924910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87534707 meters 0.014313216717085362 Centerline is valid? [True, True] Translation: X:-87.24, Y:6.55, Z:-5.44 [[ 9.79935793e-01 1.59369621e-01 -1.19696137e-01 -8.72397048e+01] [-1.58305602e-01 9.87218565e-01 1.84076383e-02 6.54589484e+00] [ 1.21099867e-01 9.10265414e-04 9.92639911e-01 -5.44221795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93534707 meters 0.014063191504423391 Centerline is valid? [True, True] Translation: X:-87.30, Y:6.56, Z:-5.44 [[ 9.80190407e-01 1.57648910e-01 -1.19889896e-01 -8.72971195e+01] [-1.56563950e-01 9.87495005e-01 1.84755293e-02 6.55790218e+00] [ 1.21303321e-01 6.60899130e-04 9.92615267e-01 -5.44476097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99534707 meters 0.01490224826064945 Centerline is valid? [True, True] Translation: X:-87.35, Y:6.57, Z:-5.45 [[ 9.79663300e-01 1.60886519e-01 -1.19897235e-01 -8.73541643e+01] [-1.59820494e-01 9.86972384e-01 1.85181792e-02 6.57384122e+00] [ 1.21314585e-01 1.02045468e-03 9.92613586e-01 -5.45431521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05534707 meters 0.016358892290083447 Centerline is valid? [True, True] Translation: X:-87.41, Y:6.60, Z:-5.46 [[ 9.78379689e-01 1.69339711e-01 -1.18731822e-01 -8.74093988e+01] [-1.68353056e-01 9.85555670e-01 1.83649264e-02 6.59533425e+00] [ 1.20126731e-01 2.02099406e-03 9.92756508e-01 -5.45703203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11534707 meters 0.019751366849134252 Centerline is valid? [True, True] Translation: X:-87.47, Y:6.62, Z:-5.47 [[ 9.75947246e-01 1.81915765e-01 -1.20140033e-01 -8.74660367e+01] [-1.80997507e-01 9.83307571e-01 1.86043811e-02 6.61753801e+00] [ 1.21519034e-01 3.58815194e-03 9.92582616e-01 -5.46866880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17534707 meters 0.022113679383894306 Centerline is valid? [True, True] Translation: X:-87.52, Y:6.63, Z:-5.48 [[ 9.75119023e-01 1.86050383e-01 -1.20532755e-01 -8.75229507e+01] [-1.85153785e-01 9.82531706e-01 1.86955170e-02 6.63321407e+00] [ 1.21905562e-01 4.08674157e-03 9.92533290e-01 -5.47799241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23534707 meters 0.0211699686919351 Centerline is valid? [True, True] Translation: X:-87.58, Y:6.63, Z:-5.49 [[ 9.75211328e-01 1.85493255e-01 -1.20644594e-01 -8.75810911e+01] [-1.84588022e-01 9.82637400e-01 1.87350324e-02 6.63348962e+00] [ 1.22025113e-01 3.99893118e-03 9.92518957e-01 -5.48505225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29534707 meters 0.022147618393866884 Centerline is valid? [True, True] Translation: X:-87.64, Y:6.65, Z:-5.49 [[ 9.74590290e-01 1.89425043e-01 -1.19548818e-01 -8.76383392e+01] [-1.88562587e-01 9.81885213e-01 1.85897532e-02 6.64621932e+00] [ 1.20904581e-01 4.42504129e-03 9.92654271e-01 -5.49332725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35534707000001 meters 0.026627323223369657 Centerline is valid? [True, True] Translation: X:-87.70, Y:6.67, Z:-5.50 [[ 9.74090500e-01 1.91697525e-01 -1.19998985e-01 -8.76952876e+01] [-1.90841100e-01 9.81442858e-01 1.86973579e-02 6.66626937e+00] [ 1.21356384e-01 4.68781958e-03 9.92597931e-01 -5.49530259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41534707 meters 0.02239699817588809 Centerline is valid? [True, True] Translation: X:-87.75, Y:6.67, Z:-5.51 [[ 9.74768442e-01 1.88529488e-01 -1.19511989e-01 -8.77531533e+01] [-1.87653462e-01 9.82058322e-01 1.86448252e-02 6.67431382e+00] [ 1.20882843e-01 4.25245133e-03 9.92657673e-01 -5.50725972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47534707 meters 0.020577990417609025 Centerline is valid? [True, True] Translation: X:-87.81, Y:6.68, Z:-5.51 [[ 9.75302400e-01 1.84814719e-01 -1.20949361e-01 -8.78111072e+01] [-1.83887638e-01 9.82765930e-01 1.88802494e-02 6.68000147e+00] [ 1.22354259e-01 3.82713982e-03 9.92479112e-01 -5.51074726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53534707 meters 0.02113174068803935 Centerline is valid? [True, True] Translation: X:-87.87, Y:6.69, Z:-5.52 [[ 9.76992682e-01 1.78450655e-01 -1.16793254e-01 -8.78687240e+01] [-1.77538245e-01 9.83944586e-01 1.82543857e-02 6.69283099e+00] [ 1.18175597e-01 2.90086816e-03 9.92988476e-01 -5.51776596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59534707 meters 0.020377423186563406 Centerline is valid? [True, True] Translation: X:-87.93, Y:6.70, Z:-5.53 [[ 9.75758329e-01 1.83345265e-01 -1.19499780e-01 -8.79259353e+01] [-1.82423500e-01 9.83042168e-01 1.87019389e-02 6.70137977e+00] [ 1.20902235e-01 3.55099544e-03 9.92658068e-01 -5.52671731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65534707 meters 0.021484969219621387 Centerline is valid? [True, True] Translation: X:-87.98, Y:6.72, Z:-5.53 [[ 9.75812189e-01 1.84906578e-01 -1.16619590e-01 -8.79828180e+01] [-1.84038616e-01 9.82749353e-01 1.82618951e-02 6.71671434e+00] [ 1.17984571e-01 3.64232817e-03 9.93008748e-01 -5.52923109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71534707 meters 0.0225917427680743 Centerline is valid? [True, True] Translation: X:-88.04, Y:6.73, Z:-5.54 [[ 9.74410024e-01 1.90461089e-01 -1.19372014e-01 -8.80395027e+01] [-1.89591608e-01 9.81684858e-01 1.87045876e-02 6.73357978e+00] [ 1.20748195e-01 4.40599442e-03 9.92673391e-01 -5.53548406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77534707 meters 0.025759368733417456 Centerline is valid? [True, True] Translation: X:-88.10, Y:6.76, Z:-5.54 [[ 9.73451455e-01 1.96591925e-01 -1.17234292e-01 -8.80957088e+01] [-1.95794886e-01 9.80472390e-01 1.83917003e-02 6.75762425e+00] [ 1.18560646e-01 5.05044744e-03 9.92933969e-01 -5.54151385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83534707 meters 0.02552547239465036 Centerline is valid? [True, True] Translation: X:-88.15, Y:6.77, Z:-5.55 [[ 9.73350934e-01 1.97533143e-01 -1.16484402e-01 -8.81532889e+01] [-1.96748560e-01 9.80282970e-01 1.83113056e-02 6.77108031e+00] [ 1.17804765e-01 5.09481178e-03 9.93023706e-01 -5.54557729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89534707 meters 0.026237082171954456 Centerline is valid? [True, True] Translation: X:-88.21, Y:6.79, Z:-5.55 [[ 9.75026796e-01 1.91463354e-01 -1.12536797e-01 -8.82105775e+01] [-1.90686831e-01 9.81490877e-01 1.77254465e-02 6.78797164e+00] [ 1.13847613e-01 4.17649996e-03 9.93489445e-01 -5.54885215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95534707 meters 0.025795161184996574 Centerline is valid? [True, True] Translation: X:-88.27, Y:6.80, Z:-5.55 [[ 9.74329336e-01 1.93654437e-01 -1.14805502e-01 -8.82683335e+01] [-1.92858589e-01 9.81059486e-01 1.81066408e-02 6.79701657e+00] [ 1.16137458e-01 4.49939589e-03 9.93222959e-01 -5.55457573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01534707 meters 0.025965211068452794 Centerline is valid? [True, True] Translation: X:-88.33, Y:6.81, Z:-5.56 [[ 9.74700584e-01 1.93036077e-01 -1.12675838e-01 -8.83263291e+01] [-1.92264246e-01 9.81182094e-01 1.77808322e-02 6.81116708e+00] [ 1.13987857e-01 4.33254749e-03 9.93472696e-01 -5.55509637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07534707 meters 0.023474867758380993 Centerline is valid? [True, True] Translation: X:-88.38, Y:6.82, Z:-5.54 [[ 9.76536486e-01 1.86842222e-01 -1.07081633e-01 -8.83845121e+01] [-1.86106975e-01 9.82383992e-01 1.69081911e-02 6.82043747e+00] [ 1.08354446e-01 3.41717327e-03 9.94106452e-01 -5.54437473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13534707 meters 0.022916787600603394 Centerline is valid? [True, True] Translation: X:-88.44, Y:6.83, Z:-5.54 [[ 9.77212038e-01 1.84305772e-01 -1.05299641e-01 -8.84432049e+01] [-1.83578418e-01 9.82864170e-01 1.66429721e-02 6.83243006e+00] [ 1.06562640e-01 3.06702891e-03 9.94301261e-01 -5.54462796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19534707 meters 0.022319173787929393 Centerline is valid? [True, True] Translation: X:-88.50, Y:6.85, Z:-5.54 [[ 9.78022489e-01 1.80042897e-01 -1.05150207e-01 -8.85010518e+01] [-1.79291004e-01 9.83655377e-01 1.66383839e-02 6.84658059e+00] [ 1.06427189e-01 2.57977254e-03 9.94317152e-01 -5.54409487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25534707 meters 0.02166889676024384 Centerline is valid? [True, True] Translation: X:-88.56, Y:6.86, Z:-5.54 [[ 9.79419796e-01 1.75283066e-01 -1.00063526e-01 -8.85591705e+01] [-1.74576666e-01 9.84516141e-01 1.58415841e-02 6.86165707e+00] [ 1.01290917e-01 1.95319563e-03 9.94854932e-01 -5.53912795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31534707 meters 0.0216718759086493 Centerline is valid? [True, True] Translation: X:-88.62, Y:6.89, Z:-5.54 [[ 9.80589097e-01 1.72518526e-01 -9.31792973e-02 -8.86160893e+01] [-1.71892909e-01 9.85005064e-01 1.47598094e-02 6.88559808e+00] [ 9.43284202e-02 1.54355230e-03 9.95539937e-01 -5.53759745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37534707 meters 0.02229141895358642 Centerline is valid? [True, True] Translation: X:-88.67, Y:6.91, Z:-5.54 [[ 9.80501316e-01 1.73778040e-01 -9.17516343e-02 -8.86722151e+01] [-1.73175741e-01 9.84783504e-01 1.45469353e-02 6.90626456e+00] [ 9.28834338e-02 1.62586810e-03 9.95675662e-01 -5.54239591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43534707 meters 0.02181165699874744 Centerline is valid? [True, True] Translation: X:-88.73, Y:6.92, Z:-5.55 [[ 9.80937057e-01 1.72050103e-01 -9.03396447e-02 -8.87287769e+01] [-1.71456653e-01 9.85087184e-01 1.43477076e-02 6.92012686e+00] [ 9.14609508e-02 1.41513500e-03 9.95807658e-01 -5.54982542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49534707 meters 0.02104413213582103 Centerline is valid? [True, True] Translation: X:-88.79, Y:6.93, Z:-5.55 [[ 9.82949080e-01 1.64525976e-01 -8.21115709e-02 -8.87871901e+01] [-1.64008936e-01 9.86372543e-01 1.30489940e-02 6.93314434e+00] [ 8.31394975e-02 6.40534743e-04 9.96537713e-01 -5.54599856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55534707 meters 0.020624684221137477 Centerline is valid? [True, True] Translation: X:-88.84, Y:6.94, Z:-5.55 [[ 9.83037443e-01 1.64043535e-01 -8.20189224e-02 -8.88436683e+01] [-1.63525483e-01 9.86452922e-01 1.30403098e-02 6.94247947e+00] [ 8.30469841e-02 5.93071029e-04 9.96545456e-01 -5.55062684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61534707 meters 0.020391742586590076 Centerline is valid? [True, True] Translation: X:-88.90, Y:6.95, Z:-5.56 [[ 9.83597751e-01 1.61457908e-01 -8.04164681e-02 -8.89010797e+01] [-1.60950254e-01 9.86879536e-01 1.27983393e-02 6.95303802e+00] [ 8.14277598e-02 3.54633236e-04 9.96679183e-01 -5.55757162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67534707 meters 0.019899495717424956 Centerline is valid? [True, True] Translation: X:-88.96, Y:6.97, Z:-5.56 [[ 9.83762794e-01 1.61429967e-01 -7.84291418e-02 -8.89576539e+01] [-1.60944984e-01 9.86884119e-01 1.25079024e-02 6.97119566e+00] [ 7.94196248e-02 3.17967946e-04 9.96841222e-01 -5.55840994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73534707 meters 0.019302818809386557 Centerline is valid? [True, True] Translation: X:-89.02, Y:6.98, Z:-5.56 [[ 9.85203317e-01 1.54466523e-01 -7.42597948e-02 -8.90150119e+01] [-1.54010468e-01 9.87997991e-01 1.18636297e-02 6.97688222e+00] [ 7.52010617e-02 -2.51301533e-04 9.97168359e-01 -5.56312548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79534707 meters 0.019409952501394254 Centerline is valid? [True, True] Translation: X:-89.07, Y:6.98, Z:-5.57 [[ 9.86338089e-01 1.47336922e-01 -7.36817876e-02 -8.90740399e+01] [-1.46867251e-01 9.89086039e-01 1.17821323e-02 6.98387731e+00] [ 7.46135705e-02 -7.99724206e-04 9.97212202e-01 -5.56558092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85534707000001 meters 0.02106653911436895 Centerline is valid? [True, True] Translation: X:-89.13, Y:6.99, Z:-5.57 [[ 9.87533935e-01 1.40035608e-01 -7.18801482e-02 -8.91337348e+01] [-1.39567545e-01 9.90145558e-01 1.15184538e-02 6.98536919e+00] [ 7.27848031e-02 -1.34272815e-03 9.97346765e-01 -5.56839285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91534707 meters 0.02080904250495909 Centerline is valid? [True, True] Translation: X:-89.19, Y:6.99, Z:-5.57 [[ 9.88096198e-01 1.36421280e-01 -7.10994978e-02 -8.91908683e+01] [-1.35952355e-01 9.90649600e-01 1.14161325e-02 6.99366047e+00] [ 7.19920924e-02 -1.61409292e-03 9.97403897e-01 -5.56948584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97534707 meters 0.021789310320118712 Centerline is valid? [True, True] Translation: X:-89.25, Y:7.00, Z:-5.57 [[ 9.88709530e-01 1.32795452e-01 -6.94178091e-02 -8.92493260e+01] [-1.32338912e-01 9.91141752e-01 1.11552627e-02 7.00367127e+00] [ 7.02842570e-02 -1.84263721e-03 9.97525302e-01 -5.57094012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03534707 meters 0.021112720429990895 Centerline is valid? [True, True] Translation: X:-89.31, Y:7.01, Z:-5.57 [[ 9.88340515e-01 1.34366292e-01 -7.16151277e-02 -8.93062776e+01] [-1.33882721e-01 9.90930080e-01 1.15322513e-02 7.01251577e+00] [ 7.25151301e-02 -1.80976300e-03 9.97365670e-01 -5.57469662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09534707 meters 0.02093867306354812 Centerline is valid? [True, True] Translation: X:-89.36, Y:7.02, Z:-5.58 [[ 9.88719237e-01 1.31376849e-01 -7.19332580e-02 -8.93640129e+01] [-1.30880290e-01 9.91330382e-01 1.15941032e-02 7.02212852e+00] [ 7.28328209e-02 -2.04866719e-03 9.97342059e-01 -5.57529046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15534707 meters 0.021461622614260212 Centerline is valid? [True, True] Translation: X:-89.42, Y:7.03, Z:-5.57 [[ 9.88486101e-01 1.32726875e-01 -7.26553904e-02 -8.94231912e+01] [-1.32221881e-01 9.91150640e-01 1.17380835e-02 7.02721219e+00] [ 7.35703958e-02 -1.99629997e-03 9.97288028e-01 -5.57391416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21534707 meters 0.02253825730557341 Centerline is valid? [True, True] Translation: X:-89.48, Y:7.03, Z:-5.58 [[ 9.88258490e-01 1.34098318e-01 -7.32311205e-02 -8.94819931e+01] [-1.33586945e-01 9.90966139e-01 1.18591617e-02 7.03127867e+00] [ 7.41598544e-02 -1.93719556e-03 9.97244485e-01 -5.57737710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27534707 meters 0.021498939449907137 Centerline is valid? [True, True] Translation: X:-89.54, Y:7.04, Z:-5.58 [[ 9.88274426e-01 1.33009819e-01 -7.49803099e-02 -8.95386311e+01] [-1.32468673e-01 9.91112512e-01 1.21671111e-02 7.04244218e+00] [ 7.59322686e-02 -2.09190260e-03 9.97110783e-01 -5.57612885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33534707 meters 0.021917282046619607 Centerline is valid? [True, True] Translation: X:-89.60, Y:7.05, Z:-5.58 [[ 9.88153309e-01 1.33822099e-01 -7.51311161e-02 -8.95961196e+01] [-1.33280175e-01 9.91003260e-01 1.22038605e-02 7.04842843e+00] [ 7.60883271e-02 -2.04579682e-03 9.97098983e-01 -5.57831145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39534707 meters 0.022893224538200432 Centerline is valid? [True, True] Translation: X:-89.66, Y:7.05, Z:-5.58 [[ 9.88023239e-01 1.34372611e-01 -7.58556511e-02 -8.96552863e+01] [-1.33819406e-01 9.90928748e-01 1.23524138e-02 7.04837942e+00] [ 7.68273715e-02 -2.05351370e-03 9.97042295e-01 -5.57797987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45534707 meters 0.023630886201226577 Centerline is valid? [True, True] Translation: X:-89.71, Y:7.05, Z:-5.58 [[ 9.88594485e-01 1.30200181e-01 -7.56892088e-02 -8.97134033e+01] [-1.29635141e-01 9.91484824e-01 1.23520674e-02 7.05312334e+00] [ 7.66529433e-02 -2.39920443e-03 9.97054948e-01 -5.57734598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51534707 meters 0.023056304258571657 Centerline is valid? [True, True] Translation: X:-89.77, Y:7.06, Z:-5.58 [[ 9.88666473e-01 1.29767625e-01 -7.54915116e-02 -8.97726040e+01] [-1.29203452e-01 9.91541438e-01 1.23306076e-02 7.06117328e+00] [ 7.64530756e-02 -2.43709442e-03 9.97070202e-01 -5.57504482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57534707 meters 0.02345668870254616 Centerline is valid? [True, True] Translation: X:-89.83, Y:7.07, Z:-5.58 [[ 9.88584992e-01 1.29764410e-01 -7.65565885e-02 -8.98316851e+01] [-1.29182215e-01 9.91541711e-01 1.25296324e-02 7.06621154e+00] [ 7.75349510e-02 -2.49685684e-03 9.96986508e-01 -5.57780236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63534707 meters 0.023521736438693014 Centerline is valid? [True, True] Translation: X:-89.89, Y:7.07, Z:-5.58 [[ 9.88462110e-01 1.29959135e-01 -7.78028268e-02 -8.98903918e+01] [-1.29356318e-01 9.91516076e-01 1.27598584e-02 7.07197746e+00] [ 7.88010137e-02 -2.54834940e-03 9.96887108e-01 -5.58164814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69534707 meters 0.02343752504275841 Centerline is valid? [True, True] Translation: X:-89.95, Y:7.08, Z:-5.58 [[ 9.88733484e-01 1.28462839e-01 -7.68335638e-02 -8.99484649e+01] [-1.27868481e-01 9.91710757e-01 1.26263862e-02 7.07871758e+00] [ 7.78186931e-02 -2.65953969e-03 9.96963980e-01 -5.58435059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75534707 meters 0.024288362727307757 Centerline is valid? [True, True] Translation: X:-90.01, Y:7.08, Z:-5.59 [[ 9.89168683e-01 1.23759715e-01 -7.89230560e-02 -9.00076687e+01] [-1.23115707e-01 9.92307261e-01 1.29931815e-02 7.08257721e+00] [ 7.99239540e-02 -3.13578031e-03 9.96796032e-01 -5.58563966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81534707 meters 0.02601988566510297 Centerline is valid? [True, True] Translation: X:-90.07, Y:7.08, Z:-5.59 [[ 9.89273370e-01 1.23355597e-01 -7.82406340e-02 -9.00671864e+01] [-1.22720721e-01 9.92357534e-01 1.28899111e-02 7.08152166e+00] [ 7.92327252e-02 -3.14989882e-03 9.96851169e-01 -5.58917259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87534707 meters 0.026112587679022595 Centerline is valid? [True, True] Translation: X:-90.13, Y:7.09, Z:-5.59 [[ 9.89649536e-01 1.20821186e-01 -7.74340771e-02 -9.01267468e+01] [-1.20189567e-01 9.92668655e-01 1.27831947e-02 7.08708300e+00] [ 7.84108619e-02 -3.34411452e-03 9.96915520e-01 -5.59024758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93534707 meters 0.02675081966637308 Centerline is valid? [True, True] Translation: X:-90.19, Y:7.09, Z:-5.59 [[ 9.90320549e-01 1.14636168e-01 -7.82544472e-02 -9.01852902e+01] [-1.13970231e-01 9.93399910e-01 1.29385275e-02 7.09356946e+00] [ 7.92211841e-02 -3.89461226e-03 9.96849455e-01 -5.59208313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99534707 meters 0.029642179899916007 Centerline is valid? [True, True] Translation: X:-90.25, Y:7.09, Z:-5.60 [[ 9.90602622e-01 1.12262361e-01 -7.81255882e-02 -9.02460387e+01] [-1.11590758e-01 9.93670208e-01 1.29236261e-02 7.08958340e+00] [ 7.90819063e-02 -4.08408432e-03 9.96859756e-01 -5.59601132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05534707 meters 0.029344231348948008 Centerline is valid? [True, True] Translation: X:-90.30, Y:7.10, Z:-5.60 [[ 9.90943245e-01 1.08737705e-01 -7.87883048e-02 -9.03045252e+01] [-1.08042593e-01 9.94060674e-01 1.30450649e-02 7.09659518e+00] [ 7.97388458e-02 -4.41442623e-03 9.96806014e-01 -5.59779734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11534707 meters 0.0302409393677192 Centerline is valid? [True, True] Translation: X:-90.36, Y:7.10, Z:-5.60 [[ 9.91122726e-01 1.07689010e-01 -7.79667824e-02 -9.03636931e+01] [-1.07004425e-01 9.94174623e-01 1.29178595e-02 7.09792917e+00] [ 7.89037080e-02 -4.46039343e-03 9.96872264e-01 -5.60042710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17534707 meters 0.03277369586079939 Centerline is valid? [True, True] Translation: X:-90.42, Y:7.10, Z:-5.61 [[ 9.91172892e-01 1.06896476e-01 -7.84183773e-02 -9.04239352e+01] [-1.06199379e-01 9.94259627e-01 1.30186877e-02 7.09611153e+00] [ 7.93598784e-02 -4.57578734e-03 9.96835529e-01 -5.60582315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23534707 meters 0.02953378562045964 Centerline is valid? [True, True] Translation: X:-90.48, Y:7.11, Z:-5.61 [[ 9.91555095e-01 1.02489645e-01 -7.94629901e-02 -9.04815459e+01] [-1.01757954e-01 9.94721422e-01 1.32140529e-02 7.11210182e+00] [ 8.03978421e-02 -5.01647021e-03 9.96750231e-01 -5.60729821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29534707 meters 0.030290712826919326 Centerline is valid? [True, True] Translation: X:-90.54, Y:7.12, Z:-5.61 [[ 9.91703004e-01 1.00952493e-01 -7.95848336e-02 -9.05414200e+01] [-1.00212955e-01 9.94877880e-01 1.32426396e-02 7.11519711e+00] [ 8.05140680e-02 -5.15733410e-03 9.96740130e-01 -5.60893682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35534707000001 meters 0.028553762992991852 Centerline is valid? [True, True] Translation: X:-90.60, Y:7.13, Z:-5.61 [[ 9.92137552e-01 9.64732506e-02 -7.97244630e-02 -9.05987899e+01] [-9.57149296e-02 9.95320088e-01 1.32881214e-02 7.12891190e+00] [ 8.06333079e-02 -5.55282285e-03 9.96728366e-01 -5.60674239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41534707 meters 0.029129429228609192 Centerline is valid? [True, True] Translation: X:-90.66, Y:7.13, Z:-5.61 [[ 9.91720874e-01 1.01606700e-01 -7.85225197e-02 -9.06584783e+01] [-1.00886615e-01 9.94811759e-01 1.30940534e-02 7.13489116e+00] [ 7.94455696e-02 -5.06377487e-03 9.96826344e-01 -5.61333326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47534707 meters 0.03115998298545272 Centerline is valid? [True, True] Translation: X:-90.72, Y:7.13, Z:-5.62 [[ 9.91663003e-01 1.01586390e-01 -7.92760626e-02 -9.07183165e+01] [-1.00851545e-01 9.94813526e-01 1.32293276e-02 7.13366011e+00] [ 8.02088190e-02 -5.12392133e-03 9.96764913e-01 -5.61893157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53534707 meters 0.02942588837466741 Centerline is valid? [True, True] Translation: X:-90.78, Y:7.14, Z:-5.62 [[ 9.91606809e-01 1.01605732e-01 -7.99513103e-02 -9.07753812e+01] [-1.00856365e-01 9.94811205e-01 1.33664083e-02 7.14464553e+00] [ 8.08945630e-02 -5.19062289e-03 9.96709149e-01 -5.62180426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59534707 meters 0.030960046921082434 Centerline is valid? [True, True] Translation: X:-90.84, Y:7.15, Z:-5.62 [[ 9.91881351e-01 1.00134212e-01 -7.83870166e-02 -9.08352862e+01] [-9.94084363e-02 9.94960257e-01 1.31168067e-02 7.14701894e+00] [ 7.93054073e-02 -5.21798518e-03 9.96836709e-01 -5.62190523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65534707 meters 0.03265509454292428 Centerline is valid? [True, True] Translation: X:-90.90, Y:7.15, Z:-5.63 [[ 9.92120877e-01 9.74327010e-02 -7.87593460e-02 -9.08955349e+01] [-9.66896976e-02 9.95227013e-01 1.32020954e-02 7.14915209e+00] [ 7.96697444e-02 -5.48285709e-03 9.96806235e-01 -5.62774208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71534707 meters 0.03352949428556638 Centerline is valid? [True, True] Translation: X:-90.96, Y:7.16, Z:-5.63 [[ 9.92345042e-01 9.50005904e-02 -7.89063105e-02 -9.09554707e+01] [-9.42461242e-02 9.95460887e-01 1.32397255e-02 7.15569439e+00] [ 7.98059276e-02 -5.70176203e-03 9.96794113e-01 -5.63220098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77534707 meters 0.033198940306833624 Centerline is valid? [True, True] Translation: X:-91.01, Y:7.16, Z:-5.64 [[ 9.92368993e-01 9.53028502e-02 -7.82377701e-02 -9.10141181e+01] [-9.45614096e-02 9.95432361e-01 1.31359879e-02 7.16490964e+00] [ 7.91323053e-02 -5.63747326e-03 9.96848182e-01 -5.63542499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83534707 meters 0.03163308514914726 Centerline is valid? [True, True] Translation: X:-91.07, Y:7.18, Z:-5.64 [[ 9.92389281e-01 9.42197256e-02 -7.92852937e-02 -9.10702982e+01] [-9.34531089e-02 9.95534402e-01 1.33330488e-02 7.17729987e+00] [ 8.01874737e-02 -5.82211751e-03 9.96762796e-01 -5.63963125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89534707 meters 0.03588662553391354 Centerline is valid? [True, True] Translation: X:-91.13, Y:7.18, Z:-5.64 [[ 9.92910068e-01 8.84320186e-02 -7.94315700e-02 -9.11297221e+01] [-8.76434958e-02 9.96062231e-01 1.33660242e-02 7.18091073e+00] [ 8.03007713e-02 -6.30959951e-03 9.96750709e-01 -5.64439331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95534707 meters 0.037028965290348145 Centerline is valid? [True, True] Translation: X:-91.19, Y:7.19, Z:-5.65 [[ 9.92721252e-01 9.02627792e-02 -7.97317119e-02 -9.11885747e+01] [-8.94738321e-02 9.95898756e-01 1.34201912e-02 7.18979799e+00] [ 8.06160564e-02 -6.18860724e-03 9.96726017e-01 -5.64881402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01534707 meters 0.03355903375467031 Centerline is valid? [True, True] Translation: X:-91.24, Y:7.22, Z:-5.65 [[ 9.92360146e-01 9.38467285e-02 -8.00882714e-02 -9.12434150e+01] [-9.30619468e-02 9.95569008e-01 1.34842125e-02 7.21673038e+00] [ 8.09988501e-02 -5.92802468e-03 9.96696566e-01 -5.65335801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07534707 meters 0.032878651912113 Centerline is valid? [True, True] Translation: X:-91.30, Y:7.24, Z:-5.66 [[ 9.91423298e-01 1.02867524e-01 -8.06108973e-02 -9.12999618e+01] [-1.02101650e-01 9.94681316e-01 1.35769445e-02 7.23795508e+00] [ 8.15787801e-02 -5.22999347e-03 9.96653174e-01 -5.66040600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13534707 meters 0.02609572041594541 Centerline is valid? [True, True] Translation: X:-91.35, Y:7.27, Z:-5.67 [[ 9.89852270e-01 1.15407763e-01 -8.29067692e-02 -9.13532685e+01] [-1.14640875e-01 9.93308801e-01 1.39676993e-02 7.27328784e+00] [ 8.39640044e-02 -4.32145429e-03 9.96459418e-01 -5.66831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19534707 meters 0.025340376685134815 Centerline is valid? [True, True] Translation: X:-91.41, Y:7.29, Z:-5.67 [[ 9.89388047e-01 1.19543712e-01 -8.25868838e-02 -9.14100463e+01] [-1.18796627e-01 9.92821039e-01 1.39192691e-02 7.29243439e+00] [ 8.36579569e-02 -3.96051524e-03 9.96486659e-01 -5.67479185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25534707 meters 0.02351307871735333 Centerline is valid? [True, True] Translation: X:-91.47, Y:7.31, Z:-5.68 [[ 9.89329781e-01 1.20075288e-01 -8.25136960e-02 -9.14651151e+01] [-1.19330709e-01 9.92757050e-01 1.39148245e-02 7.31329427e+00] [ 8.35868800e-02 -3.91993236e-03 9.96492784e-01 -5.67509304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31534707 meters 0.02317572375826423 Centerline is valid? [True, True] Translation: X:-91.52, Y:7.33, Z:-5.68 [[ 9.88388467e-01 1.27570371e-01 -8.25471944e-02 -9.15229065e+01] [-1.26850122e-01 9.91824030e-01 1.39333839e-02 7.32877674e+00] [ 8.36497780e-02 -3.30047427e-03 9.96489750e-01 -5.68391276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37534707 meters 0.022303063009975824 Centerline is valid? [True, True] Translation: X:-91.58, Y:7.35, Z:-5.69 [[ 9.87977012e-01 1.30723140e-01 -8.25401990e-02 -9.15801326e+01] [-1.30013649e-01 9.91414261e-01 1.39360970e-02 7.34556025e+00] [ 8.36533007e-02 -3.03719101e-03 9.96490291e-01 -5.68904243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43534707 meters 0.020741926709059926 Centerline is valid? [True, True] Translation: X:-91.64, Y:7.36, Z:-5.69 [[ 9.87962044e-01 1.31392512e-01 -8.16517396e-02 -9.16357024e+01] [-1.30700118e-01 9.91326025e-01 1.37910157e-02 7.36457604e+00] [ 8.27555306e-02 -2.95310804e-03 9.96565503e-01 -5.68587646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49534707 meters 0.02124512250484389 Centerline is valid? [True, True] Translation: X:-91.69, Y:7.38, Z:-5.69 [[ 9.88330171e-01 1.29815276e-01 -7.96960907e-02 -9.16934636e+01] [-1.29149583e-01 9.91533586e-01 1.34733939e-02 7.37519063e+00] [ 8.07704030e-02 -3.02344482e-03 9.96728148e-01 -5.68900755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55534707 meters 0.022507750227019778 Centerline is valid? [True, True] Translation: X:-91.75, Y:7.38, Z:-5.70 [[ 9.88412186e-01 1.27666902e-01 -8.21128090e-02 -9.17527320e+01] [-1.26950359e-01 9.91811528e-01 1.39104158e-02 7.37980580e+00] [ 8.32163302e-02 -3.32497391e-03 9.96525959e-01 -5.69757572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61534707 meters 0.023609457666628336 Centerline is valid? [True, True] Translation: X:-91.81, Y:7.39, Z:-5.70 [[ 9.89088025e-01 1.20898183e-01 -8.41932819e-02 -9.18109338e+01] [-1.20118384e-01 9.92656787e-01 1.42855497e-02 7.38760211e+00] [ 8.53021297e-02 -4.01650517e-03 9.96347035e-01 -5.70128552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67534707 meters 0.026797610089720557 Centerline is valid? [True, True] Translation: X:-91.87, Y:7.39, Z:-5.71 [[ 9.89837548e-01 1.14777466e-01 -8.39509465e-02 -9.18714461e+01] [-1.13979403e-01 9.93380852e-01 1.42540866e-02 7.39037752e+00] [ 8.50313107e-02 -4.54055135e-03 9.96367934e-01 -5.70552709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73534707 meters 0.030150476733601696 Centerline is valid? [True, True] Translation: X:-91.93, Y:7.39, Z:-5.71 [[ 9.89773138e-01 1.16136720e-01 -8.28335584e-02 -9.19307604e+01] [-1.15362567e-01 9.93223544e-01 1.40879556e-02 7.39381459e+00] [ 8.39083693e-02 -4.38798807e-03 9.96463813e-01 -5.71214927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79534707 meters 0.023871665832230816 Centerline is valid? [True, True] Translation: X:-91.99, Y:7.42, Z:-5.71 [[ 9.88733318e-01 1.23940520e-01 -8.39355350e-02 -9.19852781e+01] [-1.23171540e-01 9.92282375e-01 1.42989241e-02 7.42250614e+00] [ 8.50599682e-02 -3.79935354e-03 9.96368590e-01 -5.71308802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85534707000001 meters 0.01998248120629418 Centerline is valid? [True, True] Translation: X:-92.04, Y:7.45, Z:-5.72 [[ 9.87449429e-01 1.34265005e-01 -8.31657008e-02 -9.20414534e+01] [-1.33546161e-01 9.90941254e-01 1.41723321e-02 7.44729938e+00] [ 8.43151721e-02 -2.88800119e-03 9.96434951e-01 -5.71571084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91534707 meters 0.01970195706481952 Centerline is valid? [True, True] Translation: X:-92.10, Y:7.46, Z:-5.72 [[ 9.86923993e-01 1.38603828e-01 -8.22800788e-02 -9.20997419e+01] [-1.37915004e-01 9.90344769e-01 1.40246526e-02 7.46102405e+00] [ 8.34295161e-02 -2.49360878e-03 9.96510561e-01 -5.71821813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97534707 meters 0.01881060849774805 Centerline is valid? [True, True] Translation: X:-92.16, Y:7.47, Z:-5.72 [[ 9.86505366e-01 1.40969950e-01 -8.32744659e-02 -9.21563117e+01] [-1.40272297e-01 9.90011141e-01 1.41994044e-02 7.47493092e+00] [ 8.44443383e-02 -2.32668800e-03 9.96425482e-01 -5.72238521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03534707 meters 0.01919401325352393 Centerline is valid? [True, True] Translation: X:-92.21, Y:7.48, Z:-5.73 [[ 9.86392717e-01 1.41341784e-01 -8.39756433e-02 -9.22142265e+01] [-1.40632402e-01 9.89958119e-01 1.43335649e-02 7.48033645e+00] [ 8.51583015e-02 -2.32882761e-03 9.96364712e-01 -5.72778334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09534707 meters 0.019657344540323442 Centerline is valid? [True, True] Translation: X:-92.27, Y:7.49, Z:-5.73 [[ 9.87176230e-01 1.35807313e-01 -8.39015229e-02 -9.22726174e+01] [-1.35077030e-01 9.90731229e-01 1.43467272e-02 7.48785863e+00] [ 8.50722493e-02 -2.82957946e-03 9.96370767e-01 -5.72691188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15534707 meters 0.022014717406282584 Centerline is valid? [True, True] Translation: X:-92.33, Y:7.49, Z:-5.74 [[ 9.87230583e-01 1.35515866e-01 -8.37330590e-02 -9.23324225e+01] [-1.34786461e-01 9.90771046e-01 1.43298271e-02 7.48660220e+00] [ 8.49022094e-02 -2.86076092e-03 9.96385182e-01 -5.73525643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21534707 meters 0.021780574683360185 Centerline is valid? [True, True] Translation: X:-92.39, Y:7.49, Z:-5.74 [[ 9.87243662e-01 1.35360617e-01 -8.38299235e-02 -9.23908699e+01] [-1.34626611e-01 9.90792140e-01 1.43739567e-02 7.49227100e+00] [ 8.50036970e-02 -2.90485917e-03 9.96376401e-01 -5.73821314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27534707 meters 0.02169798756732831 Centerline is valid? [True, True] Translation: X:-92.45, Y:7.50, Z:-5.74 [[ 9.87294893e-01 1.35215126e-01 -8.34605477e-02 -9.24484675e+01] [-1.34484916e-01 9.90811933e-01 1.43359975e-02 7.49906903e+00] [ 8.46321503e-02 -2.92967242e-03 9.96407957e-01 -5.74271845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33534707 meters 0.020945945129640885 Centerline is valid? [True, True] Translation: X:-92.51, Y:7.51, Z:-5.75 [[ 9.86949709e-01 1.37546310e-01 -8.37334101e-02 -9.25068282e+01] [-1.36817287e-01 9.90491473e-01 1.44107987e-02 7.50759225e+00] [ 8.49193809e-02 -2.76655557e-03 9.96383985e-01 -5.74835617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39534707 meters 0.02107712479894055 Centerline is valid? [True, True] Translation: X:-92.56, Y:7.51, Z:-5.75 [[ 9.87161551e-01 1.35572381e-01 -8.44523616e-02 -9.25645792e+01] [-1.34821664e-01 9.90762952e-01 1.45564900e-02 7.51269981e+00] [ 8.56457291e-02 -2.98359938e-03 9.96321187e-01 -5.74992465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45534707 meters 0.02113647299368591 Centerline is valid? [True, True] Translation: X:-92.62, Y:7.52, Z:-5.75 [[ 9.87211946e-01 1.35298091e-01 -8.43030255e-02 -9.26239598e+01] [-1.34547908e-01 9.90800351e-01 1.45438899e-02 7.51757801e+00] [ 8.54952278e-02 -3.01510616e-03 9.96334018e-01 -5.75331450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51534707 meters 0.021039196758803412 Centerline is valid? [True, True] Translation: X:-92.68, Y:7.52, Z:-5.75 [[ 9.87334186e-01 1.33901170e-01 -8.50980776e-02 -9.26819948e+01] [-1.33129512e-01 9.90989558e-01 1.47047139e-02 7.52068982e+00] [ 8.63002848e-02 -3.18940115e-03 9.96264066e-01 -5.75485807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57534707 meters 0.022175983439112583 Centerline is valid? [True, True] Translation: X:-92.74, Y:7.53, Z:-5.75 [[ 9.88251621e-01 1.27336686e-01 -8.45227958e-02 -9.27408435e+01] [-1.26550476e-01 9.91852465e-01 1.46172707e-02 7.52548821e+00] [ 8.56954582e-02 -3.74914137e-03 9.96314324e-01 -5.75496501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63534707 meters 0.022025324193575564 Centerline is valid? [True, True] Translation: X:-92.80, Y:7.53, Z:-5.76 [[ 9.87813361e-01 1.30665197e-01 -8.45657680e-02 -9.28000508e+01] [-1.29889846e-01 9.91420486e-01 1.46303653e-02 7.52823707e+00] [ 8.57519144e-02 -3.46783576e-03 9.96310485e-01 -5.76080537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69534707 meters 0.02281500717434781 Centerline is valid? [True, True] Translation: X:-92.86, Y:7.53, Z:-5.76 [[ 9.87817691e-01 1.31010890e-01 -8.39783047e-02 -9.28590810e+01] [-1.30246614e-01 9.91375014e-01 1.45396325e-02 7.53076565e+00] [ 8.51588432e-02 -3.42461641e-03 9.96361502e-01 -5.76462320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75534707 meters 0.021912270589056478 Centerline is valid? [True, True] Translation: X:-92.92, Y:7.54, Z:-5.77 [[ 9.88177818e-01 1.28135459e-01 -8.41778191e-02 -9.29175644e+01] [-1.27355183e-01 9.91749759e-01 1.45970004e-02 7.53628571e+00] [ 8.53537251e-02 -3.70395049e-03 9.96343827e-01 -5.76592824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81534707 meters 0.022529837954805457 Centerline is valid? [True, True] Translation: X:-92.98, Y:7.54, Z:-5.77 [[ 9.88130826e-01 1.28707707e-01 -8.38558141e-02 -9.29774685e+01] [-1.27934391e-01 9.91675846e-01 1.45536541e-02 7.53745590e+00] [ 8.50309528e-02 -3.65287172e-03 9.96371614e-01 -5.76805498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87534707 meters 0.023790160335424682 Centerline is valid? [True, True] Translation: X:-93.04, Y:7.54, Z:-5.77 [[ 9.88539453e-01 1.25468853e-01 -8.39482996e-02 -9.30379548e+01] [-1.24679865e-01 9.92089644e-01 1.45968858e-02 7.53781518e+00] [ 8.51156932e-02 -3.96293475e-03 9.96363194e-01 -5.77203394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93534707 meters 0.02300013581467962 Centerline is valid? [True, True] Translation: X:-93.10, Y:7.54, Z:-5.77 [[ 9.89382581e-01 1.17835159e-01 -8.50704644e-02 -9.30973783e+01] [-1.16995032e-01 9.93022038e-01 1.48119971e-02 7.54246645e+00] [ 8.62222199e-02 -4.70191018e-03 9.96264835e-01 -5.76761757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99534707 meters 0.022746698204068674 Centerline is valid? [True, True] Translation: X:-93.16, Y:7.55, Z:-5.76 [[ 9.90254055e-01 1.11227729e-01 -8.38170519e-02 -9.31557899e+01] [-1.10388135e-01 9.93781312e-01 1.46001360e-02 7.54992571e+00] [ 8.49197597e-02 -5.20543579e-03 9.96374196e-01 -5.76133713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05534707 meters 0.021386033955075847 Centerline is valid? [True, True] Translation: X:-93.21, Y:7.55, Z:-5.77 [[ 9.90006971e-01 1.13108206e-01 -8.42183520e-02 -9.32146243e+01] [-1.12266207e-01 9.93569683e-01 1.46827430e-02 7.55347328e+00] [ 8.53375400e-02 -5.08114300e-03 9.96339142e-01 -5.76719111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11534707 meters 0.026679702139247523 Centerline is valid? [True, True] Translation: X:-93.28, Y:7.54, Z:-5.78 [[ 9.89158575e-01 1.22421844e-01 -8.11061362e-02 -9.32771481e+01] [-1.21669893e-01 9.92469495e-01 1.41681969e-02 7.53956134e+00] [ 8.22298629e-02 -4.14641859e-03 9.96604765e-01 -5.78250461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17534707 meters 0.02352834929517006 Centerline is valid? [True, True] Translation: X:-93.33, Y:7.55, Z:-5.78 [[ 9.89218741e-01 1.20830584e-01 -8.27420824e-02 -9.33339867e+01] [-1.20040884e-01 9.92663466e-01 1.44716458e-02 7.55147314e+00] [ 8.38836597e-02 -4.38319052e-03 9.96465915e-01 -5.78422844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23534707 meters 0.02365366557288944 Centerline is valid? [True, True] Translation: X:-93.39, Y:7.55, Z:-5.78 [[ 9.89493720e-01 1.19228638e-01 -8.17723106e-02 -9.33942977e+01] [-1.18450882e-01 9.92856725e-01 1.43147655e-02 7.55140878e+00] [ 8.28949185e-02 -4.47836824e-03 9.96548231e-01 -5.78395554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29534707 meters 0.023773829127941456 Centerline is valid? [True, True] Translation: X:-93.45, Y:7.56, Z:-5.79 [[ 9.89467306e-01 1.20250847e-01 -8.05865046e-02 -9.34528834e+01] [-1.19497163e-01 9.92734009e-01 1.41285439e-02 7.55545783e+00] [ 8.16999332e-02 -4.34987359e-03 9.96647480e-01 -5.78541595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35534707000001 meters 0.020259793675187363 Centerline is valid? [True, True] Translation: X:-93.51, Y:7.58, Z:-5.79 [[ 9.88209338e-01 1.29881854e-01 -8.10740953e-02 -9.35086527e+01] [-1.29150515e-01 9.91522998e-01 1.42227960e-02 7.57612012e+00] [ 8.22341132e-02 -3.58433869e-03 9.96606594e-01 -5.79081413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41534707 meters 0.01678595158677436 Centerline is valid? [True, True] Translation: X:-93.57, Y:7.59, Z:-5.80 [[ 9.86430740e-01 1.43115417e-01 -8.04510586e-02 -9.35663334e+01] [-1.42438432e-01 9.89702922e-01 1.41216103e-02 7.59436269e+00] [ 8.16436679e-02 -2.47066787e-03 9.96658521e-01 -5.79605676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47534707 meters 0.01541881830869516 Centerline is valid? [True, True] Translation: X:-93.62, Y:7.61, Z:-5.80 [[ 9.84520990e-01 1.55443247e-01 -8.09679985e-02 -9.36237552e+01] [-1.54797445e-01 9.87843719e-01 1.42315687e-02 7.61313456e+00] [ 8.21959300e-02 -1.47763878e-03 9.96615094e-01 -5.80132525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53534707 meters 0.015535160929846397 Centerline is valid? [True, True] Translation: X:-93.68, Y:7.62, Z:-5.81 [[ 9.84234411e-01 1.57170546e-01 -8.11174646e-02 -9.36817918e+01] [-1.56527059e-01 9.87570553e-01 1.42717125e-02 7.61746930e+00] [ 8.23523122e-02 -1.34963237e-03 9.96602366e-01 -5.81119119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59534707 meters 0.016144383366494666 Centerline is valid? [True, True] Translation: X:-93.74, Y:7.62, Z:-5.80 [[ 9.85522257e-01 1.50673316e-01 -7.77395189e-02 -9.37407024e+01] [-1.50061490e-01 9.88581929e-01 1.36864641e-02 7.62282030e+00] [ 7.89140685e-02 -1.82260695e-03 9.96879756e-01 -5.79809530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65534707 meters 0.015494493878964417 Centerline is valid? [True, True] Translation: X:-93.80, Y:7.63, Z:-5.81 [[ 9.85038802e-01 1.51794907e-01 -8.15896161e-02 -9.37974953e+01] [-1.51123289e-01 9.88410308e-01 1.43810877e-02 7.63265914e+00] [ 8.28269934e-02 -1.83583829e-03 9.96562250e-01 -5.80963371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71534707 meters 0.016284891232666965 Centerline is valid? [True, True] Translation: X:-93.86, Y:7.64, Z:-5.81 [[ 9.86648072e-01 1.41659046e-01 -8.03635337e-02 -9.38552301e+01] [-1.40971984e-01 9.89911908e-01 1.41885300e-02 7.64219092e+00] [ 8.15627526e-02 -2.67007896e-03 9.96664632e-01 -5.80547789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77534707 meters 0.018275153485466985 Centerline is valid? [True, True] Translation: X:-93.91, Y:7.65, Z:-5.81 [[ 9.87008634e-01 1.39763511e-01 -7.92471956e-02 -9.39145537e+01] [-1.39088046e-01 9.90180944e-01 1.40076002e-02 7.64529871e+00] [ 8.04268144e-02 -2.80328480e-03 9.96756575e-01 -5.81102627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83534707 meters 0.01988228538705773 Centerline is valid? [True, True] Translation: X:-93.97, Y:7.64, Z:-5.82 [[ 9.87508298e-01 1.37025396e-01 -7.77907530e-02 -9.39739675e+01] [-1.36363768e-01 9.90562993e-01 1.37797056e-02 7.64387931e+00] [ 7.89448107e-02 -2.99973341e-03 9.96874475e-01 -5.81997931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89534707 meters 0.022714381024388542 Centerline is valid? [True, True] Translation: X:-94.03, Y:7.65, Z:-5.82 [[ 9.89117662e-01 1.25715221e-01 -7.64325456e-02 -9.40328731e+01] [-1.25041094e-01 9.92058873e-01 1.35615802e-02 7.64837300e+00] [ 7.75304821e-02 -3.85678941e-03 9.96982522e-01 -5.82035905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95534707 meters 0.025276313275636897 Centerline is valid? [True, True] Translation: X:-94.09, Y:7.66, Z:-5.83 [[ 9.89813001e-01 1.19217275e-01 -7.78297095e-02 -9.40915017e+01] [-1.18497652e-01 9.92858203e-01 1.38164922e-02 7.65567302e+00] [ 7.89210301e-02 -4.45310586e-03 9.96870925e-01 -5.82671856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01534707 meters 0.026940504551236352 Centerline is valid? [True, True] Translation: X:-94.15, Y:7.66, Z:-5.84 [[ 9.90326945e-01 1.15999258e-01 -7.61361575e-02 -9.41509592e+01] [-1.15299933e-01 9.93238541e-01 1.35323814e-02 7.65949361e+00] [ 7.71911122e-02 -4.62298811e-03 9.97005597e-01 -5.83634327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07534707 meters 0.028621889368053276 Centerline is valid? [True, True] Translation: X:-94.21, Y:7.67, Z:-5.83 [[ 9.91640828e-01 1.05660527e-01 -7.40562071e-02 -9.42098853e+01] [-1.04968987e-01 9.94388156e-01 1.31797674e-02 7.66702136e+00] [ 7.50331964e-02 -5.29599043e-03 9.97166973e-01 -5.83125626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13534707 meters 0.032880074991832715 Centerline is valid? [True, True] Translation: X:-94.27, Y:7.66, Z:-5.85 [[ 9.92033907e-01 1.00918927e-01 -7.53929548e-02 -9.42704935e+01] [-1.00188131e-01 9.94877964e-01 1.34229245e-02 7.66318835e+00] [ 7.63614165e-02 -5.76251698e-03 9.97063552e-01 -5.84503474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19534707 meters 0.02789725113635785 Centerline is valid? [True, True] Translation: X:-94.33, Y:7.69, Z:-5.84 [[ 9.92492373e-01 9.78637810e-02 -7.33591850e-02 -9.43262727e+01] [-9.71632566e-02 9.95182681e-01 1.30665126e-02 7.68580812e+00] [ 7.42845287e-02 -5.84059675e-03 9.97219984e-01 -5.84195720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25534707 meters 0.032117763147030354 Centerline is valid? [True, True] Translation: X:-94.39, Y:7.68, Z:-5.85 [[ 9.91958915e-01 1.01597557e-01 -7.54681882e-02 -9.43872050e+01] [-1.00866263e-01 9.94809086e-01 1.34491586e-02 7.67999778e+00] [ 7.64428410e-02 -5.72881862e-03 9.97057507e-01 -5.85484379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31534707 meters 0.029321526828755363 Centerline is valid? [True, True] Translation: X:-94.44, Y:7.70, Z:-5.86 [[ 9.90959188e-01 1.09923460e-01 -7.69202242e-02 -9.44443000e+01] [-1.09188230e-01 9.93926507e-01 1.37124005e-02 7.70099706e+00] [ 7.79603642e-02 -5.18964619e-03 9.96942952e-01 -5.85841444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37534707 meters 0.02263515723918155 Centerline is valid? [True, True] Translation: X:-94.50, Y:7.73, Z:-5.86 [[ 9.89743759e-01 1.19849120e-01 -7.77398279e-02 -9.44979735e+01] [-1.19128286e-01 9.92782107e-01 1.38614154e-02 7.73174421e+00] [ 7.88399886e-02 -4.45823698e-03 9.96877315e-01 -5.86475529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43534707 meters 0.024321279394224456 Centerline is valid? [True, True] Translation: X:-94.56, Y:7.74, Z:-5.86 [[ 9.89252109e-01 1.24368301e-01 -7.68946745e-02 -9.45575326e+01] [-1.23676172e-01 9.92227819e-01 1.37171367e-02 7.73822146e+00] [ 7.80030121e-02 -4.05966745e-03 9.96944858e-01 -5.86400328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49534707 meters 0.016990100128993692 Centerline is valid? [True, True] Translation: X:-94.61, Y:7.78, Z:-5.87 [[ 9.86572250e-01 1.40426722e-01 -8.33998238e-02 -9.46085529e+01] [-1.39668709e-01 9.90086420e-01 1.48839414e-02 7.78334837e+00] [ 8.46631362e-02 -3.03573779e-03 9.96405007e-01 -5.87121748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55534707 meters 0.01988742888288579 Centerline is valid? [True, True] Translation: X:-94.67, Y:7.79, Z:-5.89 [[ 9.86587100e-01 1.39106943e-01 -8.54116682e-02 -9.46667930e+01] [-1.38305730e-01 9.90272068e-01 1.52563621e-02 7.78811530e+00] [ 8.67030552e-02 -3.23880696e-03 9.96228935e-01 -5.88523860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61534707 meters 0.02083052703049606 Centerline is valid? [True, True] Translation: X:-94.73, Y:7.80, Z:-5.88 [[ 9.87960564e-01 1.30980424e-01 -8.23289253e-02 -9.47251707e+01] [-1.30205970e-01 9.91377546e-01 1.47297799e-02 7.80014815e+00] [ 8.35483607e-02 -3.83272410e-03 9.96496353e-01 -5.87759966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67534707 meters 0.025353602006197247 Centerline is valid? [True, True] Translation: X:-94.78, Y:7.80, Z:-5.89 [[ 9.89107824e-01 1.20413839e-01 -8.46535256e-02 -9.47846083e+01] [-1.19555668e-01 9.92711848e-01 1.51535053e-02 7.80343828e+00] [ 8.58612496e-02 -4.86764180e-03 9.96295213e-01 -5.88867785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73534707 meters 0.03958773192729565 Centerline is valid? [True, True] Translation: X:-94.85, Y:7.79, Z:-5.89 [[ 9.92489216e-01 8.91409995e-02 -8.37797013e-02 -9.48476674e+01] [-8.81886150e-02 9.95990728e-01 1.50079261e-02 7.79041571e+00] [ 8.47816273e-02 -7.50678896e-03 9.96371278e-01 -5.88985448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79534707 meters 0.04532791074773608 Centerline is valid? [True, True] Translation: X:-94.91, Y:7.80, Z:-5.89 [[ 9.94987434e-01 5.72130140e-02 -8.20163241e-02 -9.49067833e+01] [-5.61925192e-02 9.98311742e-01 1.46991855e-02 7.79636535e+00] [ 8.27188442e-02 -1.00168010e-02 9.96522582e-01 -5.88627050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85534707000001 meters 0.06449550080239122 Centerline is valid? [True, True] Translation: X:-94.97, Y:7.77, Z:-5.89 [[ 9.96431870e-01 2.87186229e-02 -7.93647874e-02 -9.49716790e+01] [-2.76741879e-02 9.99515722e-01 1.42288828e-02 7.77243073e+00] [ 7.97349867e-02 -1.19817563e-02 9.96744084e-01 -5.88925856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91534707 meters 0.06363196542166234 Centerline is valid? [True, True] Translation: X:-95.03, Y:7.81, Z:-5.89 [[ 9.96006948e-01 3.71206643e-02 -8.11924661e-02 -9.50256526e+01] [-3.60543403e-02 9.99243749e-01 1.45606909e-02 7.81293777e+00] [ 8.16715668e-02 -1.15752085e-02 9.96592078e-01 -5.88505930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97534707 meters 0.043011354041242886 Centerline is valid? [True, True] Translation: X:-95.07, Y:7.89, Z:-5.91 [[ 9.93168291e-01 7.59783741e-02 -8.85665387e-02 -9.50710026e+01] [-7.48600189e-02 9.97067506e-01 1.58860327e-02 7.88872797e+00] [ 8.95138128e-02 -9.14741117e-03 9.95943574e-01 -5.90754636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03534707 meters 0.033682186351702344 Centerline is valid? [True, True] Translation: X:-95.12, Y:7.93, Z:-5.92 [[ 9.89976513e-01 1.08312872e-01 -9.06356766e-02 -9.51229633e+01] [-1.07274903e-01 9.94096416e-01 1.62607424e-02 7.93408566e+00] [ 9.18618489e-02 -6.37481955e-03 9.95751356e-01 -5.91855434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09534707 meters 0.02247960549158517 Centerline is valid? [True, True] Translation: X:-95.18, Y:7.97, Z:-5.92 [[ 9.87037921e-01 1.31616167e-01 -9.18331475e-02 -9.51761437e+01] [-1.30650010e-01 9.91291561e-01 1.64807660e-02 7.97402198e+00] [ 9.32025594e-02 -4.26913938e-03 9.95638015e-01 -5.91947515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15534707 meters 0.01620258961366968 Centerline is valid? [True, True] Translation: X:-95.23, Y:8.00, Z:-5.92 [[ 9.83827727e-01 1.53181929e-01 -9.28348009e-02 -9.52326668e+01] [-1.52288953e-01 9.88195414e-01 1.66703190e-02 8.00053605e+00] [ 9.42925161e-02 -2.26300745e-03 9.95541963e-01 -5.91964694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21534707 meters 0.012413320243880565 Centerline is valid? [True, True] Translation: X:-95.29, Y:8.03, Z:-5.92 [[ 9.80228914e-01 1.74029324e-01 -9.41545042e-02 -9.52874806e+01] [-1.73204726e-01 9.84740431e-01 1.69235676e-02 8.03032977e+00] [ 9.56629441e-02 -2.80965162e-04 9.95413744e-01 -5.91889065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27534707 meters 0.014705156609088253 Centerline is valid? [True, True] Translation: X:-95.34, Y:8.06, Z:-5.93 [[ 9.76195120e-01 1.93459642e-01 -9.80635253e-02 -9.53424999e+01] [-1.92661094e-01 9.81106806e-01 1.76390937e-02 8.06013337e+00] [ 9.96232449e-02 1.67382888e-03 9.95023823e-01 -5.92745957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33534707 meters 0.015783343949126984 Centerline is valid? [True, True] Translation: X:-95.40, Y:8.07, Z:-5.93 [[ 9.74765178e-01 1.99883305e-01 -9.93957332e-02 -9.53994479e+01] [-1.99094010e-01 9.79816913e-01 1.78995086e-02 8.07499017e+00] [ 1.00967433e-01 2.34127740e-03 9.94886976e-01 -5.93085410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39534707 meters 0.015521814730300178 Centerline is valid? [True, True] Translation: X:-95.46, Y:8.09, Z:-5.93 [[ 9.74905069e-01 1.98848375e-01 -1.00097109e-01 -9.54561723e+01] [-1.98040533e-01 9.80027726e-01 1.80444860e-02 8.08523952e+00] [ 1.01686059e-01 2.23162401e-03 9.94814036e-01 -5.93458907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45534707 meters 0.014178950326504717 Centerline is valid? [True, True] Translation: X:-95.51, Y:8.09, Z:-5.94 [[ 9.75902747e-01 1.93912944e-01 -1.00057979e-01 -9.55138615e+01] [-1.93076883e-01 9.81017289e-01 1.80664272e-02 8.09187652e+00] [ 1.01661921e-01 1.68780671e-03 9.94817574e-01 -5.94355119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51534707 meters 0.012651139526324552 Centerline is valid? [True, True] Translation: X:-95.57, Y:8.09, Z:-5.95 [[ 9.77578201e-01 1.84939714e-01 -1.00688443e-01 -9.55728482e+01] [-1.84043464e-01 9.82749590e-01 1.82002039e-02 8.09426097e+00] [ 1.02317467e-01 7.38927304e-04 9.94751522e-01 -5.95214163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57534707 meters 0.012256931834605161 Centerline is valid? [True, True] Translation: X:-95.63, Y:8.09, Z:-5.96 [[ 9.79544514e-01 1.74417840e-01 -1.00354187e-01 -9.56328602e+01] [-1.73468885e-01 9.84671652e-01 1.81737159e-02 8.09336365e+00] [ 1.01985743e-01 -3.93634860e-04 9.94785783e-01 -5.96128205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63534707 meters 0.01204084744974942 Centerline is valid? [True, True] Translation: X:-95.69, Y:8.10, Z:-5.96 [[ 9.79989008e-01 1.71363975e-01 -1.01271580e-01 -9.56909275e+01] [-1.70378514e-01 9.85207508e-01 1.83664921e-02 8.09892824e+00] [ 1.02920876e-01 -7.44459155e-04 9.94689268e-01 -5.96193902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69534707 meters 0.012253090531930164 Centerline is valid? [True, True] Translation: X:-95.75, Y:8.11, Z:-5.97 [[ 9.80195400e-01 1.69652140e-01 -1.02152484e-01 -9.57491558e+01] [-1.68637898e-01 9.85503547e-01 1.85477119e-02 8.10683796e+00] [ 1.03818294e-01 -9.53601749e-04 9.94595824e-01 -5.97027595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75534707 meters 0.011514448719984572 Centerline is valid? [True, True] Translation: X:-95.80, Y:8.12, Z:-5.98 [[ 9.78820991e-01 1.76299523e-01 -1.04057413e-01 -9.58049334e+01] [-1.75281399e-01 9.84336527e-01 1.89217380e-02 8.12181401e+00] [ 1.05763406e-01 -2.81665485e-04 9.94391282e-01 -5.97515117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81534707 meters 0.012352649951548823 Centerline is valid? [True, True] Translation: X:-95.86, Y:8.14, Z:-5.98 [[ 9.77621127e-01 1.83703582e-01 -1.02517929e-01 -9.58621580e+01] [-1.82753871e-01 9.82981563e-01 1.86619869e-02 8.13513435e+00] [ 1.04201508e-01 4.91195774e-04 9.94556084e-01 -5.98437860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87534707 meters 0.012650124707696591 Centerline is valid? [True, True] Translation: X:-95.92, Y:8.14, Z:-5.99 [[ 9.77211012e-01 1.86149276e-01 -1.02015122e-01 -9.59197732e+01] [-1.85218577e-01 9.82521215e-01 1.86048802e-02 8.14448675e+00] [ 1.03695306e-01 7.14201945e-04 9.94608854e-01 -5.98920733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93534707 meters 0.012050303273418599 Centerline is valid? [True, True] Translation: X:-95.98, Y:8.15, Z:-5.99 [[ 9.78363718e-01 1.79508095e-01 -1.02865342e-01 -9.59787108e+01] [-1.78521109e-01 9.83756496e-01 1.87981481e-02 8.14621175e+00] [ 1.04568868e-01 -2.77912073e-05 9.94517647e-01 -5.99444631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99534707 meters 0.012940336227127121 Centerline is valid? [True, True] Translation: X:-96.04, Y:8.15, Z:-6.01 [[ 9.79463956e-01 1.73079869e-01 -1.03410430e-01 -9.60384738e+01] [-1.72042625e-01 9.84907502e-01 1.89353379e-02 8.14535394e+00] [ 1.05127034e-01 -7.55479227e-04 9.94458514e-01 -6.00636257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05534707 meters 0.013094078054494225 Centerline is valid? [True, True] Translation: X:-96.10, Y:8.15, Z:-6.00 [[ 9.80735382e-01 1.66750123e-01 -1.01747268e-01 -9.60965140e+01] [-1.65709175e-01 9.85998137e-01 1.86585780e-02 8.14665656e+00] [ 1.03433937e-01 -1.43867178e-03 9.94635285e-01 -5.99948289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11534707 meters 0.01324123113062309 Centerline is valid? [True, True] Translation: X:-96.15, Y:8.15, Z:-6.02 [[ 9.79985325e-01 1.70958424e-01 -1.01990094e-01 -9.61543576e+01] [-1.69932645e-01 9.85277714e-01 1.87275736e-02 8.15462502e+00] [ 1.03690203e-01 -1.02130084e-03 9.94609119e-01 -6.01623672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17534707 meters 0.012652652344527409 Centerline is valid? [True, True] Translation: X:-96.21, Y:8.17, Z:-6.02 [[ 9.79624281e-01 1.72691373e-01 -1.02537596e-01 -9.62109993e+01] [-1.71661129e-01 9.84975601e-01 1.88553193e-02 8.16809787e+00] [ 1.04253181e-01 -8.69409237e-04 9.94550410e-01 -6.01646948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23534707 meters 0.012975443445743532 Centerline is valid? [True, True] Translation: X:-96.27, Y:8.19, Z:-6.03 [[ 9.76913511e-01 1.85795920e-01 -1.05450782e-01 -9.62671021e+01] [-1.84779925e-01 9.82588216e-01 1.94107212e-02 8.18632084e+00] [ 1.07221128e-01 5.22591774e-04 9.94235061e-01 -6.02669928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29534707 meters 0.013869113014280931 Centerline is valid? [True, True] Translation: X:-96.32, Y:8.20, Z:-6.03 [[ 9.76541986e-01 1.88451063e-01 -1.04172673e-01 -9.63235918e+01] [-1.87472160e-01 9.82082271e-01 1.91990157e-02 8.19961522e+00] [ 1.05924210e-01 7.80831119e-04 9.94373900e-01 -6.03464090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35534707000001 meters 0.01353916944158783 Centerline is valid? [True, True] Translation: X:-96.38, Y:8.20, Z:-6.04 [[ 9.76554100e-01 1.89183786e-01 -1.02720910e-01 -9.63819690e+01] [-1.88234856e-01 9.81941340e-01 1.89431785e-02 8.20382895e+00] [ 1.04449650e-01 8.36617005e-04 9.94529824e-01 -6.03593931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41534707 meters 0.012952084672903898 Centerline is valid? [True, True] Translation: X:-96.44, Y:8.21, Z:-6.03 [[ 9.76574974e-01 1.89194642e-01 -1.02502233e-01 -9.64407566e+01] [-1.88248338e-01 9.81939261e-01 1.89169700e-02 8.20569519e+00] [ 1.04229957e-01 8.22035499e-04 9.94552885e-01 -6.03273453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47534707 meters 0.013950346231706788 Centerline is valid? [True, True] Translation: X:-96.50, Y:8.21, Z:-6.04 [[ 9.75434141e-01 1.94084587e-01 -1.04208490e-01 -9.64990099e+01] [-1.93132539e-01 9.80983867e-01 1.92477239e-02 8.21275625e+00] [ 1.05962534e-01 1.35116316e-03 9.94369205e-01 -6.04069291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53534707 meters 0.015469269365969048 Centerline is valid? [True, True] Translation: X:-96.56, Y:8.22, Z:-6.05 [[ 9.75138333e-01 1.95413052e-01 -1.04493875e-01 -9.65569375e+01] [-1.94461264e-01 9.80719913e-01 1.93201555e-02 8.22076675e+00] [ 1.06254635e-01 1.48018679e-03 9.94337851e-01 -6.05387789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59534707 meters 0.014826246994391902 Centerline is valid? [True, True] Translation: X:-96.62, Y:8.22, Z:-6.05 [[ 9.75255941e-01 1.95145184e-01 -1.03895168e-01 -9.66164087e+01] [-1.94199982e-01 9.80773343e-01 1.92358197e-02 8.22166785e+00] [ 1.05651388e-01 1.41659225e-03 9.94402221e-01 -6.04955071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65534707 meters 0.014581256803657726 Centerline is valid? [True, True] Translation: X:-96.68, Y:8.23, Z:-6.06 [[ 9.74560615e-01 1.97926437e-01 -1.05151003e-01 -9.66752630e+01] [-1.96972050e-01 9.80215371e-01 1.94894365e-02 8.22849087e+00] [ 1.06928104e-01 1.71817137e-03 9.94265271e-01 -6.05560337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71534707 meters 0.015491293417690892 Centerline is valid? [True, True] Translation: X:-96.73, Y:8.24, Z:-6.06 [[ 9.74362608e-01 1.98763080e-01 -1.05407527e-01 -9.67335547e+01] [-1.97805141e-01 9.80045953e-01 1.95718410e-02 8.23578319e+00] [ 1.07194380e-01 1.78008076e-03 9.94236489e-01 -6.06491208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77534707 meters 0.016594259800270836 Centerline is valid? [True, True] Translation: X:-96.79, Y:8.24, Z:-6.08 [[ 9.74059272e-01 2.00326316e-01 -1.05251614e-01 -9.67913661e+01] [-1.99376511e-01 9.79727361e-01 1.95781702e-02 8.24391578e+00] [ 1.07039908e-01 1.91440131e-03 9.94252882e-01 -6.07571878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83534707 meters 0.01611422418389193 Centerline is valid? [True, True] Translation: X:-96.85, Y:8.25, Z:-6.08 [[ 9.73793696e-01 2.01600584e-01 -1.05276028e-01 -9.68501175e+01] [-2.00654101e-01 9.79465731e-01 1.96166670e-02 8.24839788e+00] [ 1.07068993e-01 2.02148007e-03 9.94249538e-01 -6.07661998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89534707 meters 0.015764769751134264 Centerline is valid? [True, True] Translation: X:-96.91, Y:8.25, Z:-6.08 [[ 9.73538146e-01 2.02908944e-01 -1.05125820e-01 -9.69079575e+01] [-2.01970030e-01 9.79195278e-01 1.96141301e-02 8.25341239e+00] [ 1.06918589e-01 2.13716109e-03 9.94265482e-01 -6.07796099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95534707 meters 0.016447415354786703 Centerline is valid? [True, True] Translation: X:-96.97, Y:8.26, Z:-6.09 [[ 9.72934763e-01 2.05563358e-01 -1.05554028e-01 -9.69656154e+01] [-2.04629958e-01 9.78640824e-01 1.97159106e-02 8.26361260e+00] [ 1.07352350e-01 2.41722149e-03 9.94218100e-01 -6.08591181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01534707 meters 0.018597334146298612 Centerline is valid? [True, True] Translation: X:-97.02, Y:8.28, Z:-6.10 [[ 9.72441229e-01 2.08173166e-01 -1.04985660e-01 -9.70230013e+01] [-2.07261167e-01 9.78088380e-01 1.96450703e-02 8.27604329e+00] [ 1.06774831e-01 2.65577411e-03 9.94279680e-01 -6.09715346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07534707 meters 0.017601706081189522 Centerline is valid? [True, True] Translation: X:-97.08, Y:8.28, Z:-6.10 [[ 9.72336294e-01 2.07947403e-01 -1.06395531e-01 -9.70803878e+01] [-2.07006468e-01 9.78136445e-01 1.99353458e-02 8.28194805e+00] [ 1.08214850e-01 2.64070279e-03 9.94124023e-01 -6.09952135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13534707 meters 0.019197521931014074 Centerline is valid? [True, True] Translation: X:-97.14, Y:8.29, Z:-6.11 [[ 9.71741813e-01 2.10276761e-01 -1.07245194e-01 -9.71385251e+01] [-2.09332585e-01 9.77637589e-01 2.01150291e-02 8.29121545e+00] [ 1.09076656e-01 2.90329881e-03 9.94029101e-01 -6.11047292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19534707 meters 0.017369563826634207 Centerline is valid? [True, True] Translation: X:-97.20, Y:8.30, Z:-6.11 [[ 9.72407543e-01 2.07441645e-01 -1.06731133e-01 -9.71966136e+01] [-2.06486822e-01 9.78244074e-01 2.00430437e-02 8.29564466e+00] [ 1.08566860e-01 2.54856551e-03 9.94085882e-01 -6.11379828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25534707 meters 0.018383824868697263 Centerline is valid? [True, True] Translation: X:-97.25, Y:8.31, Z:-6.12 [[ 9.72351025e-01 2.07607251e-01 -1.06923869e-01 -9.72536280e+01] [-2.06647409e-01 9.78208941e-01 2.01026207e-02 8.30616854e+00] [ 1.08767334e-01 2.54873656e-03 9.94063967e-01 -6.12264243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31534707 meters 0.018559603216625753 Centerline is valid? [True, True] Translation: X:-97.31, Y:8.32, Z:-6.13 [[ 9.72223811e-01 2.08075810e-01 -1.07169578e-01 -9.73114814e+01] [-2.07110273e-01 9.78109324e-01 2.01862401e-02 8.31590990e+00] [ 1.09023832e-01 2.57037732e-03 9.94035813e-01 -6.12708981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37534707 meters 0.017895263377228892 Centerline is valid? [True, True] Translation: X:-97.37, Y:8.32, Z:-6.13 [[ 9.72713053e-01 2.05983270e-01 -1.06771759e-01 -9.73702191e+01] [-2.05008730e-01 9.78552823e-01 2.01443017e-02 8.32349240e+00] [ 1.08631196e-01 2.29451749e-03 9.94079473e-01 -6.13276178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43534707 meters 0.017173651497070275 Centerline is valid? [True, True] Translation: X:-97.43, Y:8.33, Z:-6.14 [[ 9.72905209e-01 2.04823982e-01 -1.07250128e-01 -9.74270914e+01] [-2.03830913e-01 9.78796461e-01 2.02594839e-02 8.33258307e+00] [ 1.09125674e-01 2.15033404e-03 9.94025635e-01 -6.13845562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49534707 meters 0.01821150768338458 Centerline is valid? [True, True] Translation: X:-97.48, Y:8.34, Z:-6.15 [[ 9.72873205e-01 2.04477219e-01 -1.08197941e-01 -9.74843476e+01] [-2.03462027e-01 9.78869049e-01 2.04594145e-02 8.34372042e+00] [ 1.10095100e-01 2.10975636e-03 9.93918819e-01 -6.14777189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55534707 meters 0.01675495971778313 Centerline is valid? [True, True] Translation: X:-97.54, Y:8.35, Z:-6.15 [[ 9.72575288e-01 2.05472184e-01 -1.08988486e-01 -9.75419352e+01] [-2.04445424e-01 9.78660453e-01 2.06345927e-02 8.35048453e+00] [ 1.10902556e-01 2.21350223e-03 9.93828820e-01 -6.14719629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61534707 meters 0.01808006454636565 Centerline is valid? [True, True] Translation: X:-97.60, Y:8.36, Z:-6.16 [[ 9.72558198e-01 2.05485517e-01 -1.09115779e-01 -9.75982537e+01] [-2.04453676e-01 9.78657699e-01 2.06833874e-02 8.36445148e+00] [ 1.11037134e-01 2.19332422e-03 9.93813838e-01 -6.15844773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67534707 meters 0.01715606349456593 Centerline is valid? [True, True] Translation: X:-97.65, Y:8.37, Z:-6.16 [[ 9.72343179e-01 2.06819620e-01 -1.08509845e-01 -9.76540427e+01] [-2.05803984e-01 9.78376384e-01 2.06002652e-02 8.37391508e+00] [ 1.10424009e-01 2.30123120e-03 9.93881906e-01 -6.16114988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73534707 meters 0.01894360382963829 Centerline is valid? [True, True] Translation: X:-97.71, Y:8.39, Z:-6.17 [[ 9.71899400e-01 2.08647474e-01 -1.08985264e-01 -9.77109923e+01] [-2.07631532e-01 9.77987733e-01 2.07157292e-02 8.38917963e+00] [ 1.10908535e-01 2.49517244e-03 9.93827485e-01 -6.17138262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79534707 meters 0.018955526149577025 Centerline is valid? [True, True] Translation: X:-97.77, Y:8.40, Z:-6.17 [[ 9.71434279e-01 2.10285403e-01 -1.09979505e-01 -9.77681224e+01] [-2.09258253e-01 9.77636365e-01 2.09313249e-02 8.39964110e+00] [ 1.11921516e-01 2.68071265e-03 9.93713434e-01 -6.17383799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85534707000001 meters 0.0190910390444716 Centerline is valid? [True, True] Translation: X:-97.83, Y:8.41, Z:-6.18 [[ 9.71332791e-01 2.11227374e-01 -1.09066975e-01 -9.78258432e+01] [-2.10220765e-01 9.77433099e-01 2.07790092e-02 8.41016147e+00] [ 1.10994767e-01 2.74481001e-03 9.93817200e-01 -6.17904356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91534707 meters 0.01887255130517063 Centerline is valid? [True, True] Translation: X:-97.88, Y:8.42, Z:-6.18 [[ 9.71259703e-01 2.11231761e-01 -1.09707484e-01 -9.78841075e+01] [-2.10209344e-01 9.77432200e-01 2.09362247e-02 8.41825360e+00] [ 1.11654023e-01 2.72702681e-03 9.93743399e-01 -6.18466867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97534707 meters 0.021601243064243412 Centerline is valid? [True, True] Translation: X:-97.94, Y:8.43, Z:-6.20 [[ 9.70204898e-01 2.15429835e-01 -1.10871286e-01 -9.79413112e+01] [-2.14408892e-01 9.76514045e-01 2.11930595e-02 8.43148317e+00] [ 1.12832985e-01 3.21017949e-03 9.93608782e-01 -6.20160576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03534707 meters 0.023084674944107857 Centerline is valid? [True, True] Translation: X:-98.00, Y:8.44, Z:-6.21 [[ 9.69574580e-01 2.17644612e-01 -1.12053362e-01 -9.79988340e+01] [-2.16613754e-01 9.76021874e-01 2.14425715e-02 8.44333932e+00] [ 1.14033393e-01 3.48212719e-03 9.93470815e-01 -6.20906251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09534707 meters 0.02202459370794932 Centerline is valid? [True, True] Translation: X:-98.06, Y:8.45, Z:-6.21 [[ 9.68599997e-01 2.21468350e-01 -1.12985907e-01 -9.80570081e+01] [-2.20444783e-01 9.75159544e-01 2.16324237e-02 8.45129943e+00] [ 1.14970183e-01 3.95398833e-03 9.93361074e-01 -6.20654166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15534707 meters 0.022724055572462924 Centerline is valid? [True, True] Translation: X:-98.12, Y:8.46, Z:-6.21 [[ 9.68296091e-01 2.22967141e-01 -1.12642506e-01 -9.81156583e+01] [-2.21957319e-01 9.74817350e-01 2.15889481e-02 8.45936001e+00] [ 1.14619496e-01 4.09733465e-03 9.93401018e-01 -6.21480467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21534707 meters 0.022317845690332655 Centerline is valid? [True, True] Translation: X:-98.17, Y:8.46, Z:-6.22 [[ 9.68801971e-01 2.20568499e-01 -1.13014501e-01 -9.81740576e+01] [-2.19532450e-01 9.75364091e-01 2.16885783e-02 8.46440577e+00] [ 1.15014104e-01 3.79841291e-03 9.93356597e-01 -6.21960845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27534707 meters 0.019925486449282048 Centerline is valid? [True, True] Translation: X:-98.23, Y:8.47, Z:-6.23 [[ 9.69597017e-01 2.16720772e-01 -1.13638604e-01 -9.82324729e+01] [-2.15644879e-01 9.76227908e-01 2.18256333e-02 8.46735325e+00] [ 1.15667244e-01 3.34351394e-03 9.93282392e-01 -6.22544400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33534707 meters 0.022043006292276134 Centerline is valid? [True, True] Translation: X:-98.29, Y:8.48, Z:-6.24 [[ 9.69682923e-01 2.16499775e-01 -1.13326412e-01 -9.82893911e+01] [-2.15425504e-01 9.76277143e-01 2.17897082e-02 8.48052847e+00] [ 1.15355453e-01 3.28429150e-03 9.93318848e-01 -6.23889633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39534707 meters 0.02109639202293293 Centerline is valid? [True, True] Translation: X:-98.35, Y:8.49, Z:-6.24 [[ 9.69695833e-01 2.16412664e-01 -1.13382323e-01 -9.83461077e+01] [-2.15332838e-01 9.76296597e-01 2.18340102e-02 8.49050875e+00] [ 1.15419933e-01 3.24258876e-03 9.93311494e-01 -6.24154494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45534707 meters 0.023257419412571027 Centerline is valid? [True, True] Translation: X:-98.40, Y:8.51, Z:-6.26 [[ 9.68993763e-01 2.18833440e-01 -1.14730177e-01 -9.84026518e+01] [-2.17741043e-01 9.75755794e-01 2.21239402e-02 8.50625958e+00] [ 1.16790093e-01 3.54350851e-03 9.93150300e-01 -6.25731343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51534707 meters 0.02299769252460156 Centerline is valid? [True, True] Translation: X:-98.46, Y:8.52, Z:-6.26 [[ 9.68785790e-01 2.18837211e-01 -1.16466167e-01 -9.84588317e+01] [-2.17708527e-01 9.75754836e-01 2.24832588e-02 8.51829727e+00] [ 1.18562600e-01 3.57421609e-03 9.92940147e-01 -6.26229547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57534707 meters 0.023032784539006788 Centerline is valid? [True, True] Translation: X:-98.52, Y:8.53, Z:-6.27 [[ 9.68794402e-01 2.18949147e-01 -1.16183814e-01 -9.85158933e+01] [-2.17824028e-01 9.75729789e-01 2.24515446e-02 8.53135771e+00] [ 1.18279755e-01 3.55669556e-03 9.92973942e-01 -6.26825410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63534707 meters 0.021921365119373086 Centerline is valid? [True, True] Translation: X:-98.57, Y:8.54, Z:-6.27 [[ 9.69364166e-01 2.16986228e-01 -1.15109040e-01 -9.85745313e+01] [-2.15864152e-01 9.76169244e-01 2.22772120e-02 8.54361633e+00] [ 1.17199753e-01 3.25318438e-03 9.93103033e-01 -6.27179187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69534707 meters 0.022015292052290487 Centerline is valid? [True, True] Translation: X:-98.63, Y:8.55, Z:-6.28 [[ 9.68870636e-01 2.18481596e-01 -1.16428019e-01 -9.86315029e+01] [-2.17340568e-01 9.75834996e-01 2.25640981e-02 8.55463158e+00] [ 1.18544375e-01 3.44283970e-03 9.92942787e-01 -6.28103096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75534707 meters 0.020794748770301665 Centerline is valid? [True, True] Translation: X:-98.69, Y:8.56, Z:-6.28 [[ 9.68984733e-01 2.17184037e-01 -1.17896908e-01 -9.86893068e+01] [-2.16000212e-01 9.76125123e-01 2.28834395e-02 8.56310773e+00] [ 1.20052051e-01 3.29205357e-03 9.92762140e-01 -6.28482794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81534707 meters 0.018686510321666464 Centerline is valid? [True, True] Translation: X:-98.75, Y:8.57, Z:-6.29 [[ 9.69819781e-01 2.13831925e-01 -1.17155879e-01 -9.87470790e+01] [-2.12635609e-01 9.76866355e-01 2.27644827e-02 8.57229574e+00] [ 1.19313409e-01 2.83406602e-03 9.92852597e-01 -6.28506950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87534707 meters 0.020811097191187605 Centerline is valid? [True, True] Translation: X:-98.80, Y:8.59, Z:-6.30 [[ 9.69575884e-01 2.15823047e-01 -1.15511985e-01 -9.88024124e+01] [-2.14672868e-01 9.76427810e-01 2.24564478e-02 8.58963195e+00] [ 1.17635733e-01 3.02405887e-03 9.93052209e-01 -6.29941515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93534707 meters 0.02166576934023559 Centerline is valid? [True, True] Translation: X:-98.86, Y:8.60, Z:-6.31 [[ 9.69284929e-01 2.16303464e-01 -1.17045028e-01 -9.88594180e+01] [-2.15123167e-01 9.76321256e-01 2.27777841e-02 8.60385700e+00] [ 1.19200463e-01 3.10093433e-03 9.92865365e-01 -6.31240861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99534707 meters 0.022382944936787844 Centerline is valid? [True, True] Translation: X:-98.92, Y:8.62, Z:-6.32 [[ 9.68932091e-01 2.17059324e-01 -1.18557380e-01 -9.89157152e+01] [-2.15850987e-01 9.76153129e-01 2.30959076e-02 8.61899261e+00] [ 1.20743340e-01 3.21236148e-03 9.92678562e-01 -6.32034365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05534707 meters 0.02367652017093692 Centerline is valid? [True, True] Translation: X:-98.97, Y:8.63, Z:-6.33 [[ 9.68482707e-01 2.19236568e-01 -1.18222559e-01 -9.89726454e+01] [-2.18049430e-01 9.75665599e-01 2.30453003e-02 8.63466741e+00] [ 1.20398057e-01 3.45938694e-03 9.92719669e-01 -6.32999040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11534707 meters 0.02222010510095309 Centerline is valid? [True, True] Translation: X:-99.03, Y:8.65, Z:-6.33 [[ 9.68303754e-01 2.20559207e-01 -1.17224039e-01 -9.90292809e+01] [-2.19399747e-01 9.75367031e-01 2.28671590e-02 8.64518617e+00] [ 1.19380025e-01 3.57656846e-03 9.92842192e-01 -6.33111507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17534707 meters 0.021569029597469386 Centerline is valid? [True, True] Translation: X:-99.09, Y:8.66, Z:-6.34 [[ 9.68347927e-01 2.20663635e-01 -1.16661276e-01 -9.90861670e+01] [-2.19513195e-01 9.75343513e-01 2.27813155e-02 8.65904964e+00] [ 1.18811827e-01 3.54844982e-03 9.92910448e-01 -6.33644912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23534707 meters 0.02395740682731714 Centerline is valid? [True, True] Translation: X:-99.14, Y:8.68, Z:-6.35 [[ 9.67706261e-01 2.23444828e-01 -1.16691904e-01 -9.91418149e+01] [-2.22309398e-01 9.74708960e-01 2.28248802e-02 8.67792304e+00] [ 1.18840746e-01 3.85392763e-03 9.92905849e-01 -6.35019804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29534707 meters 0.02316972099226731 Centerline is valid? [True, True] Translation: X:-99.20, Y:8.69, Z:-6.36 [[ 9.67598505e-01 2.23199887e-01 -1.18046360e-01 -9.91981129e+01] [-2.22032794e-01 9.74765124e-01 2.31169000e-02 8.68919363e+00] [ 1.20227164e-01 3.84228508e-03 9.92738972e-01 -6.35578766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35534707 meters 0.022512450926168805 Centerline is valid? [True, True] Translation: X:-99.26, Y:8.70, Z:-6.37 [[ 9.68296138e-01 2.21063962e-01 -1.16332769e-01 -9.92554287e+01] [-2.19913964e-01 9.75252981e-01 2.27919052e-02 8.70161347e+00] [ 1.18492349e-01 3.51388668e-03 9.92948748e-01 -6.36660608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41534707 meters 0.022492335936940586 Centerline is valid? [True, True] Translation: X:-99.31, Y:8.71, Z:-6.37 [[ 9.68603461e-01 2.20578231e-01 -1.14684696e-01 -9.93140158e+01] [-2.19455165e-01 9.75363404e-01 2.24868874e-02 8.71258347e+00] [ 1.16819373e-01 3.38727182e-03 9.93147401e-01 -6.37260736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47534707 meters 0.021586538471737717 Centerline is valid? [True, True] Translation: X:-99.37, Y:8.72, Z:-6.38 [[ 9.69087324e-01 2.18636895e-01 -1.14313895e-01 -9.93717195e+01] [-2.17503791e-01 9.75801328e-01 2.24470161e-02 8.72225403e+00] [ 1.16455396e-01 3.11058666e-03 9.93191052e-01 -6.38039686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53534707 meters 0.02056240576748735 Centerline is valid? [True, True] Translation: X:-99.43, Y:8.73, Z:-6.39 [[ 9.69452480e-01 2.16591771e-01 -1.15108179e-01 -9.94298686e+01] [-2.15424230e-01 9.76258103e-01 2.26388554e-02 8.73236676e+00] [ 1.17278682e-01 2.84979628e-03 9.93094955e-01 -6.38578457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59534707 meters 0.02196662329882727 Centerline is valid? [True, True] Translation: X:-99.49, Y:8.75, Z:-6.40 [[ 9.69571786e-01 2.16837365e-01 -1.13631462e-01 -9.94862901e+01] [-2.15698069e-01 9.76203686e-01 2.23764844e-02 8.74604730e+00] [ 1.15779510e-01 2.81447903e-03 9.93270952e-01 -6.39601719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65534707 meters 0.02141553893600276 Centerline is valid? [True, True] Translation: X:-99.54, Y:8.76, Z:-6.40 [[ 9.69866493e-01 2.16070559e-01 -1.12572200e-01 -9.95443458e+01] [-2.14944400e-01 9.76374094e-01 2.21930854e-02 8.75756067e+00] [ 1.14707852e-01 2.67243405e-03 9.93395675e-01 -6.39986891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71534707 meters 0.02121473335942898 Centerline is valid? [True, True] Translation: X:-99.60, Y:8.77, Z:-6.41 [[ 9.68799266e-01 2.19846203e-01 -1.14436135e-01 -9.96012339e+01] [-2.18705782e-01 9.75529464e-01 2.25841932e-02 8.76877241e+00] [ 1.16600870e-01 3.14829454e-03 9.93173865e-01 -6.40589176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77534707 meters 0.021025000043425893 Centerline is valid? [True, True] Translation: X:-99.66, Y:8.78, Z:-6.41 [[ 9.67828952e-01 2.22718567e-01 -1.17062203e-01 -9.96586810e+01] [-2.21544777e-01 9.74876262e-01 2.31124569e-02 8.78000823e+00] [ 1.19268736e-01 3.56561474e-03 9.92855606e-01 -6.41012159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83534707 meters 0.020636749173689788 Centerline is valid? [True, True] Translation: X:-99.71, Y:8.79, Z:-6.41 [[ 9.66956355e-01 2.26516349e-01 -1.16986116e-01 -9.97149281e+01] [-2.25370272e-01 9.73999070e-01 2.31095523e-02 8.79235559e+00] [ 1.19179059e-01 4.01926422e-03 9.92864642e-01 -6.41218344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89534707 meters 0.027249613890053738 Centerline is valid? [True, True] Translation: X:-99.77, Y:8.82, Z:-6.42 [[ 9.65775829e-01 2.33723064e-01 -1.12474786e-01 -9.97691086e+01] [-2.32709517e-01 9.72291888e-01 2.22433129e-02 8.82033776e+00] [ 1.14557097e-01 4.69189917e-03 9.93405586e-01 -6.42025393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95534707 meters 0.026907741387470666 Centerline is valid? [True, True] Translation: X:-99.83, Y:8.83, Z:-6.43 [[ 9.64899985e-01 2.36515185e-01 -1.14142831e-01 -9.98265398e+01] [-2.35487510e-01 9.71614555e-01 2.26006486e-02 8.83033893e+00] [ 1.16248232e-01 5.07184546e-03 9.93207242e-01 -6.42586810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01534707 meters 0.029592883397146597 Centerline is valid? [True, True] Translation: X:-99.88, Y:8.85, Z:-6.43 [[ 9.63509146e-01 2.42424789e-01 -1.13491622e-01 -9.98834114e+01] [-2.41447253e-01 9.70153271e-01 2.24912206e-02 8.84840048e+00] [ 1.15556697e-01 5.73174355e-03 9.93284348e-01 -6.43281625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07534707 meters 0.029842469267054708 Centerline is valid? [True, True] Translation: X:-99.94, Y:8.86, Z:-6.43 [[ 9.63219372e-01 2.45082170e-01 -1.10196059e-01 -9.99412244e+01] [-2.44174246e-01 9.69484716e-01 2.18706059e-02 8.86434854e+00] [ 1.12193490e-01 5.84084825e-03 9.93669213e-01 -6.42656846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13534707 meters 0.03173893255998879 Centerline is valid? [True, True] Translation: X:-100.00, Y:8.88, Z:-6.44 [[ 9.62341199e-01 2.47721007e-01 -1.11954094e-01 -9.99982280e+01] [-2.46797637e-01 9.68811482e-01 2.22539565e-02 8.87943080e+00] [ 1.13975184e-01 6.21410668e-03 9.93464163e-01 -6.43597906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19534707 meters 0.032362648635222625 Centerline is valid? [True, True] Translation: X:-100.05, Y:8.90, Z:-6.44 [[ 9.61752405e-01 2.50147129e-01 -1.11618660e-01 -1.00054536e+02] [-2.49242878e-01 9.68186289e-01 2.22102930e-02 8.89637728e+00] [ 1.13623497e-01 6.45935338e-03 9.93502883e-01 -6.43845757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25534707 meters 0.031016800637205556 Centerline is valid? [True, True] Translation: X:-100.11, Y:8.91, Z:-6.44 [[ 9.62357264e-01 2.48890888e-01 -1.09187099e-01 -1.00113506e+02] [-2.48015602e-01 9.68511977e-01 2.17442378e-02 8.90867855e+00] [ 1.11160956e-01 6.15437893e-03 9.93783359e-01 -6.43589997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31534707 meters 0.030608419467634033 Centerline is valid? [True, True] Translation: X:-100.17, Y:8.92, Z:-6.43 [[ 9.63695546e-01 2.45566254e-01 -1.04824186e-01 -1.00171924e+02] [-2.44736959e-01 9.69364152e-01 2.09036250e-02 8.92228799e+00] [ 1.06746033e-01 5.50962234e-03 9.94271054e-01 -6.43436966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37534707 meters 0.029634070748027534 Centerline is valid? [True, True] Translation: X:-100.23, Y:8.93, Z:-6.44 [[ 9.64767430e-01 2.42502877e-01 -1.02059590e-01 -1.00230645e+02] [-2.41696839e-01 9.70137773e-01 2.03798811e-02 8.93357015e+00] [ 1.03954043e-01 5.00563484e-03 9.94569505e-01 -6.43680967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43534707 meters 0.027095073915713478 Centerline is valid? [True, True] Translation: X:-100.29, Y:8.94, Z:-6.44 [[ 9.65873468e-01 2.38727929e-01 -1.00485916e-01 -1.00288662e+02] [-2.37924174e-01 9.71076030e-01 2.00856267e-02 8.94023174e+00] [ 1.02374465e-01 4.50785468e-03 9.94735718e-01 -6.43820584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49534707 meters 0.025720582292844997 Centerline is valid? [True, True] Translation: X:-100.35, Y:8.95, Z:-6.44 [[ 9.66963007e-01 2.34984925e-01 -9.88161367e-02 -1.00347370e+02] [-2.34187293e-01 9.71990647e-01 1.97609475e-02 8.94913529e+00] [ 1.00691885e-01 4.03337834e-03 9.94909481e-01 -6.44318999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55534707 meters 0.022328432311292126 Centerline is valid? [True, True] Translation: X:-100.41, Y:8.95, Z:-6.44 [[ 9.67061612e-01 2.33695220e-01 -1.00887970e-01 -1.00405641e+02] [-2.32855851e-01 9.72301783e-01 2.01840206e-02 8.95316395e+00] [ 1.02810463e-01 3.97316267e-03 9.94693029e-01 -6.44416923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61534707 meters 0.020543100397534965 Centerline is valid? [True, True] Translation: X:-100.46, Y:8.96, Z:-6.45 [[ 9.67960192e-01 2.30591993e-01 -9.94001951e-02 -1.00463638e+02] [-2.29759842e-01 9.73043948e-01 1.98969766e-02 8.96265989e+00] [ 1.01308842e-01 3.57869178e-03 9.94848587e-01 -6.44872953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67534707 meters 0.022565729517125818 Centerline is valid? [True, True] Translation: X:-100.52, Y:8.98, Z:-6.45 [[ 9.68742768e-01 2.29023764e-01 -9.53182326e-02 -1.00520459e+02] [-2.28250369e-01 9.73415353e-01 1.90871513e-02 8.98080845e+00] [ 9.71556423e-02 3.26588199e-03 9.95263842e-01 -6.45398246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73534707 meters 0.022503974843493074 Centerline is valid? [True, True] Translation: X:-100.58, Y:8.99, Z:-6.46 [[ 9.69444226e-01 2.26919750e-01 -9.31950632e-02 -1.00577870e+02] [-2.26170107e-01 9.73908903e-01 1.86690232e-02 8.99473454e+00] [ 9.49998718e-02 2.97936064e-03 9.95472826e-01 -6.45739617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79534707 meters 0.019407749304342584 Centerline is valid? [True, True] Translation: X:-100.64, Y:9.00, Z:-6.46 [[ 9.69871086e-01 2.24848536e-01 -9.37721358e-02 -1.00636278e+02] [-2.24079107e-01 9.74389746e-01 1.87930145e-02 8.99999338e+00] [ 9.55961893e-02 2.78557509e-03 9.95416299e-01 -6.45841255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85534707 meters 0.021187886653532828 Centerline is valid? [True, True] Translation: X:-100.69, Y:9.02, Z:-6.46 [[ 9.70506995e-01 2.24185590e-01 -8.86396873e-02 -1.00692976e+02] [-2.23494107e-01 9.74543118e-01 1.77790513e-02 9.02217772e+00] [ 9.03690044e-02 2.55575412e-03 9.95905071e-01 -6.46189559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91534707 meters 0.02021574031537726 Centerline is valid? [True, True] Translation: X:-100.75, Y:9.03, Z:-6.46 [[ 9.70755947e-01 2.23098957e-01 -8.86552166e-02 -1.00749280e+02] [-2.22400772e-01 9.74792763e-01 1.78035412e-02 9.03299055e+00] [ 9.03924150e-02 2.43409511e-03 9.95903252e-01 -6.46451284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97534707 meters 0.02039412859907807 Centerline is valid? [True, True] Translation: X:-100.81, Y:9.05, Z:-6.47 [[ 9.70710935e-01 2.23540753e-01 -8.80330155e-02 -1.00806244e+02] [-2.22852605e-01 9.74691528e-01 1.76958376e-02 9.04848978e+00] [ 8.97607752e-02 2.44084373e-03 9.95960363e-01 -6.46888178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03534707 meters 0.020377179209334694 Centerline is valid? [True, True] Translation: X:-100.86, Y:9.06, Z:-6.47 [[ 9.71291151e-01 2.22377833e-01 -8.45079783e-02 -1.00864245e+02] [-2.21737040e-01 9.74958052e-01 1.70141832e-02 9.06360098e+00] [ 8.61753110e-02 2.21282339e-03 9.96277531e-01 -6.47236813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09534707 meters 0.01959556346541425 Centerline is valid? [True, True] Translation: X:-100.92, Y:9.07, Z:-6.47 [[ 9.72254887e-01 2.18480664e-01 -8.35860892e-02 -1.00922718e+02] [-2.17837723e-01 9.75839567e-01 1.68483275e-02 9.07405913e+00] [ 8.52476469e-02 1.82733460e-03 9.96358118e-01 -6.47391267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15534707 meters 0.019183105688980743 Centerline is valid? [True, True] Translation: X:-100.98, Y:9.08, Z:-6.48 [[ 9.72802052e-01 2.15850491e-01 -8.40519606e-02 -1.00980432e+02] [-2.15189618e-01 9.76425123e-01 1.69530940e-02 9.08466682e+00] [ 8.57297796e-02 1.59510466e-03 9.96317149e-01 -6.47709293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21534707 meters 0.017779795492746723 Centerline is valid? [True, True] Translation: X:-101.04, Y:9.10, Z:-6.48 [[ 9.73503825e-01 2.12830712e-01 -8.36264990e-02 -1.01036984e+02] [-2.12163373e-01 9.77088225e-01 1.68909137e-02 9.09509766e+00] [ 8.53053727e-02 1.29911107e-03 9.96354006e-01 -6.47764380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27534707 meters 0.01824232386045754 Centerline is valid? [True, True] Translation: X:-101.09, Y:9.11, Z:-6.48 [[ 9.73032266e-01 2.14649199e-01 -8.44625970e-02 -1.01094211e+02] [-2.13973788e-01 9.76690125e-01 1.70768272e-02 9.11100689e+00] [ 8.61593117e-02 1.45647795e-03 9.96280308e-01 -6.48169118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33534707 meters 0.020615158879936275 Centerline is valid? [True, True] Translation: X:-101.15, Y:9.13, Z:-6.49 [[ 9.72706937e-01 2.16413627e-01 -8.37039817e-02 -1.01149362e+02] [-2.15754192e-01 9.76300509e-01 1.69542168e-02 9.13168183e+00] [ 8.53893635e-02 1.56800064e-03 9.96346425e-01 -6.48619545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39534707 meters 0.019264608462544915 Centerline is valid? [True, True] Translation: X:-101.21, Y:9.14, Z:-6.49 [[ 9.72605695e-01 2.16517652e-01 -8.46065529e-02 -1.01206740e+02] [-2.15841805e-01 9.76277447e-01 1.71657180e-02 9.14153675e+00] [ 8.63161504e-02 1.56615604e-03 9.96266565e-01 -6.48924735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45534707 meters 0.020348429633885452 Centerline is valid? [True, True] Translation: X:-101.26, Y:9.16, Z:-6.49 [[ 9.72613044e-01 2.16869413e-01 -8.36153385e-02 -1.01263619e+02] [-2.16209406e-01 9.76199370e-01 1.69788941e-02 9.15916303e+00] [ 8.53074436e-02 1.56452882e-03 9.96353447e-01 -6.49433624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51534707 meters 0.019364456548937724 Centerline is valid? [True, True] Translation: X:-101.32, Y:9.17, Z:-6.49 [[ 9.73257427e-01 2.13569015e-01 -8.46064808e-02 -1.01320868e+02] [-2.12878649e-01 9.76927158e-01 1.72048925e-02 9.16950144e+00] [ 8.63288008e-02 1.26612392e-03 9.96265896e-01 -6.49372752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57534707 meters 0.01945513316998562 Centerline is valid? [True, True] Translation: X:-101.38, Y:9.18, Z:-6.49 [[ 9.73833854e-01 2.11114884e-01 -8.41316277e-02 -1.01378594e+02] [-2.10421901e-01 9.77460714e-01 1.71223831e-02 9.18258945e+00] [ 8.58501508e-02 1.02878080e-03 9.96307529e-01 -6.49409064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63534707 meters 0.019618782832137412 Centerline is valid? [True, True] Translation: X:-101.44, Y:9.19, Z:-6.50 [[ 9.73985708e-01 2.10101253e-01 -8.49076232e-02 -1.01435334e+02] [-2.09389011e-01 9.77679200e-01 1.73096416e-02 9.19278138e+00] [ 8.66491945e-02 9.19379688e-04 9.96238461e-01 -6.49777945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69534707 meters 0.019064222677899516 Centerline is valid? [True, True] Translation: X:-101.49, Y:9.20, Z:-6.50 [[ 9.74990135e-01 2.05620557e-01 -8.43470445e-02 -1.01494287e+02] [-2.04898351e-01 9.78631672e-01 1.72254797e-02 9.20025158e+00] [ 8.60866019e-02 4.87897536e-04 9.96287538e-01 -6.49878769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75534707 meters 0.019664748102795948 Centerline is valid? [True, True] Translation: X:-101.55, Y:9.21, Z:-6.50 [[ 9.76041729e-01 2.00194530e-01 -8.52331690e-02 -1.01552637e+02] [-1.99433891e-01 9.79756169e-01 1.74348310e-02 9.20691830e+00] [ 8.69980809e-02 -1.87400852e-05 9.96208479e-01 -6.49917689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81534707 meters 0.019750414818300782 Centerline is valid? [True, True] Translation: X:-101.61, Y:9.21, Z:-6.50 [[ 9.77433076e-01 1.93509103e-01 -8.47278480e-02 -1.01611902e+02] [-1.92729735e-01 9.81098271e-01 1.73618019e-02 9.21180793e+00] [ 8.64860119e-02 -6.40423779e-04 9.96252859e-01 -6.50010448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87534707 meters 0.020154114734483294 Centerline is valid? [True, True] Translation: X:-101.67, Y:9.22, Z:-6.50 [[ 9.78463773e-01 1.89341426e-01 -8.22099134e-02 -1.01669321e+02] [-1.88590799e-01 9.81910797e-01 1.68729733e-02 9.22055710e+00] [ 8.39175544e-02 -1.00555990e-03 9.96472194e-01 -6.50034216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93534707 meters 0.021134887462036293 Centerline is valid? [True, True] Translation: X:-101.73, Y:9.23, Z:-6.50 [[ 9.79418911e-01 1.84698292e-01 -8.13949480e-02 -1.01727997e+02] [-1.83944013e-01 9.82794245e-01 1.67353597e-02 9.22766807e+00] [ 8.30854789e-02 -1.41881438e-03 9.96541414e-01 -6.50214085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99534707 meters 0.022385314865037278 Centerline is valid? [True, True] Translation: X:-101.79, Y:9.24, Z:-6.51 [[ 9.79985473e-01 1.80699543e-01 -8.35233348e-02 -1.01785443e+02] [-1.79888773e-01 9.83536648e-01 1.71956595e-02 9.23663365e+00] [ 8.52555086e-02 -1.82658629e-03 9.96357447e-01 -6.51255876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05534707 meters 0.021298885264054063 Centerline is valid? [True, True] Translation: X:-101.84, Y:9.25, Z:-6.51 [[ 9.79676115e-01 1.83252747e-01 -8.15667899e-02 -1.01840961e+02] [-1.82487741e-01 9.83064571e-01 1.68009728e-02 9.25498902e+00] [ 8.32642458e-02 -1.57457254e-03 9.96526260e-01 -6.50641918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11534707 meters 0.020483367721403082 Centerline is valid? [True, True] Translation: X:-101.90, Y:9.27, Z:-6.51 [[ 9.78004258e-01 1.90806578e-01 -8.42645859e-02 -1.01897269e+02] [-1.90016579e-01 9.81627165e-01 1.73726152e-02 9.27311545e+00] [ 8.60312158e-02 -9.78823310e-04 9.96291961e-01 -6.51497156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17534707 meters 0.02023648416972493 Centerline is valid? [True, True] Translation: X:-101.95, Y:9.29, Z:-6.52 [[ 9.76550647e-01 1.96514066e-01 -8.79264205e-02 -1.01954082e+02] [-1.95674089e-01 9.80500864e-01 1.81578275e-02 9.28929336e+00] [ 8.97801998e-02 -5.27115926e-04 9.95961464e-01 -6.52012910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23534707 meters 0.020057642299094163 Centerline is valid? [True, True] Translation: X:-102.01, Y:9.30, Z:-6.52 [[ 9.75663843e-01 2.01359856e-01 -8.68001934e-02 -1.02011258e+02] [-2.00557852e-01 9.79517328e-01 1.79541445e-02 9.30468205e+00] [ 8.86375375e-02 -1.08749194e-04 9.96063941e-01 -6.52264895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29534707 meters 0.019507646916039973 Centerline is valid? [True, True] Translation: X:-102.07, Y:9.32, Z:-6.52 [[ 9.75000332e-01 2.06611554e-01 -8.17680836e-02 -1.02068059e+02] [-2.05916528e-01 9.78422997e-01 1.69358581e-02 9.32031290e+00] [ 8.35029173e-02 3.24932616e-04 9.96507480e-01 -6.51873874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35534707 meters 0.019374564155816232 Centerline is valid? [True, True] Translation: X:-102.12, Y:9.34, Z:-6.52 [[ 9.74151779e-01 2.10219474e-01 -8.26806170e-02 -1.02124622e+02] [-2.09520936e-01 9.77654016e-01 1.71348618e-02 9.33532997e+00] [ 8.44351189e-02 6.31364164e-04 9.96428779e-01 -6.51638473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41534707 meters 0.021963558061549947 Centerline is valid? [True, True] Translation: X:-102.18, Y:9.36, Z:-6.52 [[ 9.71989793e-01 2.19090873e-01 -8.50589953e-02 -1.02179988e+02] [-2.18384352e-01 9.75703409e-01 1.76389417e-02 9.35819875e+00] [ 8.68568829e-02 1.43068224e-03 9.96219772e-01 -6.52120901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47534707 meters 0.022176899622102463 Centerline is valid? [True, True] Translation: X:-102.24, Y:9.37, Z:-6.54 [[ 9.70351001e-01 2.24767624e-01 -8.88732237e-02 -1.02237023e+02] [-2.24018609e-01 9.74410318e-01 1.84443701e-02 9.37412725e+00] [ 9.07446834e-02 2.01174298e-03 9.95872158e-01 -6.53515221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53534707 meters 0.02078067180692374 Centerline is valid? [True, True] Translation: X:-102.30, Y:9.38, Z:-6.53 [[ 9.71905190e-01 2.18430829e-01 -8.76828089e-02 -1.02296456e+02] [-2.17674142e-01 9.75851458e-01 1.82181028e-02 9.37877908e+00] [ 8.95447922e-02 1.38001156e-03 9.95981840e-01 -6.53214729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59534707 meters 0.019652330621968857 Centerline is valid? [True, True] Translation: X:-102.36, Y:9.38, Z:-6.53 [[ 9.74745718e-01 2.06857801e-01 -8.41465160e-02 -1.02356794e+02] [-2.06117175e-01 9.78370974e-01 1.74913243e-02 9.38059735e+00] [ 8.59447257e-02 2.94448726e-04 9.96299863e-01 -6.53064559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65534707 meters 0.019797221195510376 Centerline is valid? [True, True] Translation: X:-102.41, Y:9.39, Z:-6.54 [[ 9.75507505e-01 2.03000139e-01 -8.47115778e-02 -1.02414290e+02] [-2.02233876e-01 9.79178707e-01 1.76215540e-02 9.38731421e+00] [ 8.65249511e-02 -5.84074800e-05 9.96249682e-01 -6.54015106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71534707 meters 0.020362436792397916 Centerline is valid? [True, True] Translation: X:-102.47, Y:9.39, Z:-6.55 [[ 9.75474627e-01 2.00111915e-01 -9.16759151e-02 -1.02473364e+02] [-1.99198173e-01 9.79772974e-01 1.91051611e-02 9.39352995e+00] [ 9.36447544e-02 -3.74925089e-04 9.95605604e-01 -6.55250230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77534707 meters 0.020763980181316765 Centerline is valid? [True, True] Translation: X:-102.53, Y:9.40, Z:-6.55 [[ 9.75818272e-01 1.96905812e-01 -9.49041664e-02 -1.02530879e+02] [-1.95909066e-01 9.80422138e-01 1.98007170e-02 9.40206875e+00] [ 9.69450221e-02 -7.29314793e-04 9.95289471e-01 -6.55283590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83534707 meters 0.019784103436137436 Centerline is valid? [True, True] Translation: X:-102.59, Y:9.42, Z:-6.55 [[ 9.74445541e-01 2.05590245e-01 -9.04905416e-02 -1.02587031e+02] [-2.04720600e-01 9.78638154e-01 1.88901785e-02 9.41785990e+00] [ 9.24411330e-02 1.17827693e-04 9.95718144e-01 -6.55333035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89534707 meters 0.019719754275380676 Centerline is valid? [True, True] Translation: X:-102.64, Y:9.43, Z:-6.55 [[ 9.73619616e-01 2.10895853e-01 -8.71078819e-02 -1.02644494e+02] [-2.10109964e-01 9.77508363e-01 1.81990135e-02 9.43357341e+00] [ 8.89867795e-02 5.83317430e-04 9.96032636e-01 -6.55299075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95534707 meters 0.01965720262805216 Centerline is valid? [True, True] Translation: X:-102.70, Y:9.44, Z:-6.56 [[ 9.73499477e-01 2.08217299e-01 -9.45744406e-02 -1.02702904e+02] [-2.07275371e-01 9.78082532e-01 1.97858753e-02 9.43763194e+00] [ 9.66213698e-02 3.41412954e-04 9.95321151e-01 -6.55984367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01534707 meters 0.020430134021208617 Centerline is valid? [True, True] Translation: X:-102.76, Y:9.44, Z:-6.56 [[ 9.74789101e-01 2.04123323e-01 -9.01103621e-02 -1.02762594e+02] [-2.03250225e-01 9.78945179e-01 1.88595211e-02 9.44308374e+00] [ 9.20627727e-02 -6.91042660e-05 9.95753203e-01 -6.55741222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07534707 meters 0.018650311568181373 Centerline is valid? [True, True] Translation: X:-102.82, Y:9.45, Z:-6.56 [[ 9.75040624e-01 2.04479700e-01 -8.65091587e-02 -1.02821962e+02] [-2.03675473e-01 9.78870804e-01 1.81177217e-02 9.44939851e+00] [ 8.83859960e-02 -4.57208707e-05 9.96086298e-01 -6.55756284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13534707 meters 0.01878334740165504 Centerline is valid? [True, True] Translation: X:-102.88, Y:9.46, Z:-6.56 [[ 9.74940315e-01 2.04966222e-01 -8.64883192e-02 -1.02879025e+02] [-2.04161639e-01 9.78769047e-01 1.81432731e-02 9.45811724e+00] [ 8.83708478e-02 -3.10114898e-05 9.96087643e-01 -6.56229580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19534707 meters 0.018812804073198238 Centerline is valid? [True, True] Translation: X:-102.94, Y:9.47, Z:-6.57 [[ 9.75260661e-01 2.01880993e-01 -9.00594656e-02 -1.02936217e+02] [-2.00992678e-01 9.79409996e-01 1.89209497e-02 9.46703192e+00] [ 9.20249210e-02 -3.51564753e-04 9.95756642e-01 -6.56609007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25534707 meters 0.018994354987176214 Centerline is valid? [True, True] Translation: X:-102.99, Y:9.48, Z:-6.58 [[ 9.74239911e-01 2.06040652e-01 -9.16724932e-02 -1.02993706e+02] [-2.05136794e-01 9.78543432e-01 1.92781395e-02 9.47921565e+00] [ 9.36775966e-02 2.38684070e-05 9.95602585e-01 -6.57614333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31534707 meters 0.018208920487370425 Centerline is valid? [True, True] Translation: X:-103.05, Y:9.49, Z:-6.58 [[ 9.73856594e-01 2.08272652e-01 -9.06964028e-02 -1.03050847e+02] [-2.07395199e-01 9.78070784e-01 1.90990323e-02 9.49072213e+00] [ 9.26853078e-02 2.10279995e-04 9.95695430e-01 -6.57817115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37534707 meters 0.01813933077088601 Centerline is valid? [True, True] Translation: X:-103.11, Y:9.50, Z:-6.58 [[ 9.73682855e-01 2.08815220e-01 -9.13121156e-02 -1.03107749e+02] [-2.07927159e-01 9.77955081e-01 1.92394555e-02 9.50158746e+00] [ 9.33166385e-02 2.53140802e-04 9.95636450e-01 -6.58277037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43534707 meters 0.01795381047740773 Centerline is valid? [True, True] Translation: X:-103.16, Y:9.51, Z:-6.58 [[ 9.73236432e-01 2.11134126e-01 -9.07371441e-02 -1.03164221e+02] [-2.10265614e-01 9.77456994e-01 1.91362800e-02 9.51482633e+00] [ 9.27319778e-02 4.54776550e-04 9.95691003e-01 -6.58460564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49534707 meters 0.018399759939118982 Centerline is valid? [True, True] Translation: X:-103.22, Y:9.53, Z:-6.59 [[ 9.71982903e-01 2.16787930e-01 -9.08417834e-02 -1.03221226e+02] [-2.15938876e-01 9.76218248e-01 1.91920321e-02 9.53113961e+00] [ 9.28420075e-02 9.61945532e-04 9.95680389e-01 -6.59147472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55534707 meters 0.018170548716496412 Centerline is valid? [True, True] Translation: X:-103.28, Y:9.55, Z:-6.59 [[ 9.71753299e-01 2.19538671e-01 -8.65927134e-02 -1.03278097e+02] [-2.18775818e-01 9.75603132e-01 1.83213199e-02 9.54811293e+00] [ 8.85023606e-02 1.14058867e-03 9.96075314e-01 -6.59045601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61534707 meters 0.018417895267490172 Centerline is valid? [True, True] Translation: X:-103.34, Y:9.56, Z:-6.59 [[ 9.71556066e-01 2.21193238e-01 -8.45716365e-02 -1.03335563e+02] [-2.20469556e-01 9.75229218e-01 1.79205957e-02 9.56179686e+00] [ 8.64406455e-02 1.23460773e-03 9.96256237e-01 -6.59247808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67534707 meters 0.017357143902659838 Centerline is valid? [True, True] Translation: X:-103.39, Y:9.57, Z:-6.59 [[ 9.71698685e-01 2.20188494e-01 -8.55493582e-02 -1.03392163e+02] [-2.19441766e-01 9.75456685e-01 1.81539992e-02 9.57000465e+00] [ 8.74469951e-02 1.13288505e-03 9.96168530e-01 -6.59007596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73534707 meters 0.01682497467854023 Centerline is valid? [True, True] Translation: X:-103.45, Y:9.58, Z:-6.59 [[ 9.72085744e-01 2.18528273e-01 -8.54090200e-02 -1.03448670e+02] [-2.17775845e-01 9.75830143e-01 1.81442412e-02 9.58063569e+00] [ 8.73097258e-02 9.62263282e-04 9.96180750e-01 -6.59127584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79534707 meters 0.01737621006831096 Centerline is valid? [True, True] Translation: X:-103.51, Y:9.60, Z:-6.60 [[ 9.71897054e-01 2.20290722e-01 -8.29946581e-02 -1.03505381e+02] [-2.19585360e-01 9.75433671e-01 1.76472015e-02 9.59561371e+00] [ 8.48432987e-02 1.07314869e-03 9.96393729e-01 -6.59593486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85534707 meters 0.01746306485879108 Centerline is valid? [True, True] Translation: X:-103.56, Y:9.61, Z:-6.60 [[ 9.71626180e-01 2.21859273e-01 -8.19818879e-02 -1.03561642e+02] [-2.21174200e-01 9.75077997e-01 1.74606069e-02 9.60910093e+00] [ 8.38125326e-02 1.16709565e-03 9.96480856e-01 -6.60076316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91534707 meters 0.016119662142746967 Centerline is valid? [True, True] Translation: X:-103.62, Y:9.62, Z:-6.60 [[ 9.71904195e-01 2.19411297e-01 -8.52110212e-02 -1.03620078e+02] [-2.18658928e-01 9.75631978e-01 1.81801423e-02 9.61719891e+00] [ 8.71235257e-02 9.62793913e-04 9.96197051e-01 -6.60091575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97534707 meters 0.016782766399926232 Centerline is valid? [True, True] Translation: X:-103.68, Y:9.63, Z:-6.61 [[ 9.71271518e-01 2.22131442e-01 -8.53771693e-02 -1.03676609e+02] [-2.21383781e-01 9.75016018e-01 1.82478808e-02 9.63442843e+00] [ 8.72975357e-02 1.17747368e-03 9.96181587e-01 -6.61025092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03534707 meters 0.016742230102540737 Centerline is valid? [True, True] Translation: X:-103.73, Y:9.65, Z:-6.62 [[ 9.71192653e-01 2.21908885e-01 -8.68405268e-02 -1.03734182e+02] [-2.21131561e-01 9.75066733e-01 1.85929782e-02 9.64758165e+00] [ 8.88012558e-02 1.14581745e-03 9.96048706e-01 -6.61721949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09534707 meters 0.017410401154374606 Centerline is valid? [True, True] Translation: X:-103.79, Y:9.66, Z:-6.62 [[ 9.71436893e-01 2.21664211e-01 -8.47073830e-02 -1.03791038e+02] [-2.20921386e-01 9.75122471e-01 1.81633351e-02 9.66255360e+00] [ 8.66262340e-02 1.06913863e-03 9.96240309e-01 -6.61988047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15534707 meters 0.01671164760396122 Centerline is valid? [True, True] Translation: X:-103.85, Y:9.68, Z:-6.62 [[ 9.70451846e-01 2.25786402e-01 -8.51100237e-02 -1.03846909e+02] [-2.25050244e-01 9.74175796e-01 1.82730866e-02 9.67837534e+00] [ 8.70379396e-02 1.42088099e-03 9.96203984e-01 -6.62391399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21534707 meters 0.018393478756887526 Centerline is valid? [True, True] Translation: X:-103.90, Y:9.70, Z:-6.63 [[ 9.68387170e-01 2.33190708e-01 -8.85911013e-02 -1.03903485e+02] [-2.32422517e-01 9.72428630e-01 1.90350640e-02 9.69782063e+00] [ 9.05873233e-02 2.15725501e-03 9.95886180e-01 -6.63164204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27534707 meters 0.019652595659752078 Centerline is valid? [True, True] Translation: X:-103.96, Y:9.72, Z:-6.64 [[ 9.66979758e-01 2.38623725e-01 -8.94922699e-02 -1.03959614e+02] [-2.37861067e-01 9.71108425e-01 1.92494059e-02 9.71648862e+00] [ 9.15000622e-02 2.67294090e-03 9.95801483e-01 -6.63921329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33534707 meters 0.020283075871397056 Centerline is valid? [True, True] Translation: X:-104.02, Y:9.73, Z:-6.64 [[ 9.66956413e-01 2.39042274e-01 -8.86232854e-02 -1.04016172e+02] [-2.38294876e-01 9.71005483e-01 1.90762445e-02 9.73325109e+00] [ 9.06137249e-02 2.67257786e-03 9.95882528e-01 -6.64077752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39534707 meters 0.019227875800077055 Centerline is valid? [True, True] Translation: X:-104.07, Y:9.75, Z:-6.64 [[ 9.67200055e-01 2.38230012e-01 -8.81505277e-02 -1.04072565e+02] [-2.37485026e-01 9.71205392e-01 1.89986554e-02 9.74504118e+00] [ 9.01383177e-02 2.55892982e-03 9.95925969e-01 -6.64400364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45534707 meters 0.017021104192884388 Centerline is valid? [True, True] Translation: X:-104.13, Y:9.75, Z:-6.65 [[ 9.68033835e-01 2.33918219e-01 -9.05138713e-02 -1.04129558e+02] [-2.33112789e-01 9.72253778e-01 1.95197124e-02 9.75320529e+00] [ 9.25684696e-02 2.20419895e-03 9.95703882e-01 -6.64539504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51534707 meters 0.019258018049219783 Centerline is valid? [True, True] Translation: X:-104.19, Y:9.77, Z:-6.65 [[ 9.68277969e-01 2.33375968e-01 -8.92940754e-02 -1.04185141e+02] [-2.32588087e-01 9.72384301e-01 1.92757147e-02 9.77329268e+00] [ 9.13266457e-02 2.10448830e-03 9.95818766e-01 -6.65330582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57534707 meters 0.018364495162416908 Centerline is valid? [True, True] Translation: X:-104.24, Y:9.79, Z:-6.65 [[ 9.67984442e-01 2.34355568e-01 -8.99087773e-02 -1.04242367e+02] [-2.33558531e-01 9.72148491e-01 1.94351110e-02 9.78586249e+00] [ 9.19594087e-02 2.18607689e-03 9.95760357e-01 -6.65034783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63534707 meters 0.019718610235622526 Centerline is valid? [True, True] Translation: X:-104.30, Y:9.80, Z:-6.65 [[ 9.67532399e-01 2.36534604e-01 -8.90642373e-02 -1.04298327e+02] [-2.35760291e-01 9.71620210e-01 1.92679171e-02 9.80383930e+00] [ 9.10941421e-02 2.35547642e-03 9.95839500e-01 -6.65419217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69534707 meters 0.021203644856333404 Centerline is valid? [True, True] Translation: X:-104.35, Y:9.83, Z:-6.65 [[ 9.66570445e-01 2.41022464e-01 -8.74628282e-02 -1.04354172e+02] [-2.40291593e-01 9.70515779e-01 1.89492196e-02 9.82524038e+00] [ 8.94512425e-02 2.70082670e-03 9.95987540e-01 -6.65265906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75534707 meters 0.022123091465293485 Centerline is valid? [True, True] Translation: X:-104.41, Y:9.84, Z:-6.66 [[ 9.64976012e-01 2.46452966e-01 -8.99012380e-02 -1.04409717e+02] [-2.45702121e-01 9.69149229e-01 1.94997156e-02 9.84373783e+00] [ 9.19334783e-02 3.27216708e-03 9.95759774e-01 -6.65856501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81534707 meters 0.022479956920238457 Centerline is valid? [True, True] Translation: X:-104.47, Y:9.86, Z:-6.66 [[ 9.63726764e-01 2.50922080e-01 -9.09331325e-02 -1.04466346e+02] [-2.50173018e-01 9.68000086e-01 1.97305631e-02 9.85742418e+00] [ 9.29741140e-02 3.73414452e-03 9.95661524e-01 -6.66127128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87534707 meters 0.023127634546916086 Centerline is valid? [True, True] Translation: X:-104.52, Y:9.87, Z:-6.67 [[ 9.63793599e-01 2.50755253e-01 -9.06846254e-02 -1.04524157e+02] [-2.50008190e-01 9.68043470e-01 1.96912383e-02 9.87036556e+00] [ 9.27243409e-02 3.69360957e-03 9.95684967e-01 -6.66511278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93534707 meters 0.02110857817246157 Centerline is valid? [True, True] Translation: X:-104.58, Y:9.88, Z:-6.67 [[ 9.64997734e-01 2.46079480e-01 -9.06877271e-02 -1.04583017e+02] [-2.45309566e-01 9.69244301e-01 1.97155484e-02 9.87628854e+00] [ 9.27501545e-02 3.22110740e-03 9.95684204e-01 -6.66588947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99534707 meters 0.021780734961854394 Centerline is valid? [True, True] Translation: X:-104.64, Y:9.89, Z:-6.67 [[ 9.65562486e-01 2.43427105e-01 -9.18277186e-02 -1.04640382e+02] [-2.42624968e-01 9.69914567e-01 1.99713993e-02 9.88520355e+00] [ 9.39266218e-02 2.99606335e-03 9.95574615e-01 -6.67375986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05534707 meters 0.022445630906946377 Centerline is valid? [True, True] Translation: X:-104.70, Y:9.89, Z:-6.68 [[ 9.65447317e-01 2.43101859e-01 -9.38773855e-02 -1.04698591e+02] [-2.42260241e-01 9.69996083e-01 2.04346512e-02 9.89424513e+00] [ 9.60283979e-02 3.01417882e-03 9.95374031e-01 -6.68107073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11534707 meters 0.022183834575979767 Centerline is valid? [True, True] Translation: X:-104.76, Y:9.90, Z:-6.68 [[ 9.65254981e-01 2.43686998e-01 -9.43370005e-02 -1.04755285e+02] [-2.42837571e-01 9.69849090e-01 2.05586137e-02 9.90494843e+00] [ 9.65025210e-02 3.06426381e-03 9.95328023e-01 -6.68151604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17534707 meters 0.02210800823530785 Centerline is valid? [True, True] Translation: X:-104.81, Y:9.91, Z:-6.69 [[ 9.64893540e-01 2.45497505e-01 -9.33350482e-02 -1.04812412e+02] [-2.44673502e-01 9.69391939e-01 2.03505713e-02 9.91213851e+00] [ 9.54742579e-02 3.20047825e-03 9.95426754e-01 -6.68504732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23534707 meters 0.02337272654673312 Centerline is valid? [True, True] Translation: X:-104.87, Y:9.92, Z:-6.69 [[ 9.64483563e-01 2.47001496e-01 -9.36040498e-02 -1.04870616e+02] [-2.46178167e-01 9.69009333e-01 2.04260282e-02 9.92152103e+00] [ 9.57484574e-02 3.34270495e-03 9.95399949e-01 -6.69153787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29534707 meters 0.022131924386978055 Centerline is valid? [True, True] Translation: X:-104.93, Y:9.92, Z:-6.69 [[ 9.65861491e-01 2.41644303e-01 -9.33788563e-02 -1.04931674e+02] [-2.40797287e-01 9.70360921e-01 2.04046447e-02 9.92460784e+00] [ 9.55418592e-02 2.77731470e-03 9.95421539e-01 -6.68748015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35534707 meters 0.02098404971244647 Centerline is valid? [True, True] Translation: X:-104.99, Y:9.93, Z:-6.69 [[ 9.65693231e-01 2.42048586e-01 -9.40694719e-02 -1.04988978e+02] [-2.41189048e-01 9.70260032e-01 2.05745623e-02 9.93060654e+00] [ 9.62518925e-02 2.81981077e-03 9.95353014e-01 -6.69307955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41534707 meters 0.02147036028528238 Centerline is valid? [True, True] Translation: X:-105.05, Y:9.94, Z:-6.70 [[ 9.65326367e-01 2.42829853e-01 -9.58053598e-02 -1.05047450e+02] [-2.41940382e-01 9.70064456e-01 2.09714756e-02 9.93917525e+00] [ 9.80298745e-02 2.93486695e-03 9.95179145e-01 -6.70147346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47534707 meters 0.023310706400474366 Centerline is valid? [True, True] Translation: X:-105.11, Y:9.95, Z:-6.71 [[ 9.64461346e-01 2.45273573e-01 -9.82608121e-02 -1.05105408e+02] [-2.44347393e-01 9.69448505e-01 2.15394432e-02 9.94985733e+00] [ 1.00541854e-01 3.23581292e-03 9.94927568e-01 -6.71167499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53534707 meters 0.021237321889565532 Centerline is valid? [True, True] Translation: X:-105.17, Y:9.95, Z:-6.71 [[ 9.65819651e-01 2.39845389e-01 -9.83188210e-02 -1.05165097e+02] [-2.38887842e-01 9.70807480e-01 2.15739517e-02 9.95327322e+00] [ 1.00623060e-01 2.65062442e-03 9.94921089e-01 -6.71093343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59534707 meters 0.020221143819036655 Centerline is valid? [True, True] Translation: X:-105.22, Y:9.96, Z:-6.71 [[ 9.66101021e-01 2.38638974e-01 -9.84898858e-02 -1.05223986e+02] [-2.37670961e-01 9.71105084e-01 2.16201105e-02 9.95681318e+00] [ 1.00803430e-01 2.52097497e-03 9.94903168e-01 -6.71210097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65534707 meters 0.0231450625866151 Centerline is valid? [True, True] Translation: X:-105.28, Y:9.97, Z:-6.72 [[ 9.64440667e-01 2.44993560e-01 -9.91582303e-02 -1.05279925e+02] [-2.44044618e-01 9.69519440e-01 2.17779621e-02 9.97286609e+00] [ 1.01471292e-01 3.19548018e-03 9.94833336e-01 -6.72425970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71534707 meters 0.02166333021993391 Centerline is valid? [True, True] Translation: X:-105.34, Y:9.98, Z:-6.72 [[ 9.64625168e-01 2.44108859e-01 -9.95447121e-02 -1.05337083e+02] [-2.43146765e-01 9.69742866e-01 2.18729352e-02 9.98207958e+00] [ 1.01872152e-01 3.10479089e-03 9.94792654e-01 -6.72122958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77534707 meters 0.02334715152526362 Centerline is valid? [True, True] Translation: X:-105.39, Y:10.00, Z:-6.73 [[ 9.63964600e-01 2.46611421e-01 -9.97750329e-02 -1.05394009e+02] [-2.45656207e-01 9.69108627e-01 2.19430445e-02 9.99646075e+00] [ 1.02104250e-01 3.35803799e-03 9.94768036e-01 -6.73069987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83534707 meters 0.020810077931586835 Centerline is valid? [True, True] Translation: X:-105.45, Y:10.00, Z:-6.72 [[ 9.63932892e-01 2.46649974e-01 -9.99858525e-02 -1.05451965e+02] [-2.45688042e-01 9.69098871e-01 2.20173771e-02 1.00007252e+01] [ 1.02326762e-01 3.34205441e-03 9.94745226e-01 -6.72454358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89534707 meters 0.024435234707218374 Centerline is valid? [True, True] Translation: X:-105.51, Y:10.02, Z:-6.74 [[ 9.62737633e-01 2.50647730e-01 -1.01547846e-01 -1.05507549e+02] [-2.49675967e-01 9.68070860e-01 2.23767880e-02 1.00182980e+01] [ 1.03914202e-01 3.81108076e-03 9.94578963e-01 -6.74014468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95534707 meters 0.026594316169529543 Centerline is valid? [True, True] Translation: X:-105.57, Y:10.03, Z:-6.75 [[ 9.61418941e-01 2.55723127e-01 -1.01386889e-01 -1.05565185e+02] [-2.54780683e-01 9.66740341e-01 2.23588007e-02 1.00331597e+01] [ 1.03732458e-01 4.33524620e-03 9.94595789e-01 -6.74533935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01534707 meters 0.029467980149094557 Centerline is valid? [True, True] Translation: X:-105.62, Y:10.05, Z:-6.75 [[ 9.59125552e-01 2.63826529e-01 -1.02341279e-01 -1.05622725e+02] [-2.62909479e-01 9.64555930e-01 2.25934647e-02 1.00477939e+01] [ 1.04674642e-01 5.23652294e-03 9.94492734e-01 -6.75130152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07534707 meters 0.027489019363529807 Centerline is valid? [True, True] Translation: X:-105.68, Y:10.05, Z:-6.75 [[ 9.58848694e-01 2.63289688e-01 -1.06243690e-01 -1.05681196e+02] [-2.62295814e-01 9.64701938e-01 2.34750262e-02 1.00532430e+01] [ 1.08674226e-01 5.35827685e-03 9.94062977e-01 -6.75485707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13534707 meters 0.028799070841830844 Centerline is valid? [True, True] Translation: X:-105.74, Y:10.07, Z:-6.75 [[ 9.57777170e-01 2.68300890e-01 -1.03332112e-01 -1.05738335e+02] [-2.67386869e-01 9.63318084e-01 2.28589303e-02 1.00672304e+01] [ 1.05674763e-01 5.73588824e-03 9.94384203e-01 -6.75430670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19534707 meters 0.026248175815306793 Centerline is valid? [True, True] Translation: X:-105.80, Y:10.07, Z:-6.76 [[ 9.58586148e-01 2.64845538e-01 -1.04735082e-01 -1.05796195e+02] [-2.63883622e-01 9.64275689e-01 2.31911755e-02 1.00737950e+01] [ 1.07135573e-01 5.40713329e-03 9.94229718e-01 -6.75599289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25534707 meters 0.03134154229698759 Centerline is valid? [True, True] Translation: X:-105.85, Y:10.10, Z:-6.77 [[ 9.58500421e-01 2.66769684e-01 -1.00552864e-01 -1.05850448e+02] [-2.65891669e-01 9.63745313e-01 2.22843555e-02 1.00977789e+01] [ 1.02852142e-01 5.37660464e-03 9.94682125e-01 -6.76587605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31534707 meters 0.029236245474158852 Centerline is valid? [True, True] Translation: X:-105.91, Y:10.11, Z:-6.76 [[ 9.57992438e-01 2.68382794e-01 -1.01099773e-01 -1.05908331e+02] [-2.67500607e-01 9.63296372e-01 2.24393519e-02 1.01083193e+01] [ 1.03411380e-01 5.54752113e-03 9.94623201e-01 -6.76245479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37534707 meters 0.02916197813011762 Centerline is valid? [True, True] Translation: X:-105.97, Y:10.12, Z:-6.77 [[ 9.57628287e-01 2.69515500e-01 -1.01535510e-01 -1.05965858e+02] [-2.68628761e-01 9.62979392e-01 2.25672006e-02 1.01226464e+01] [ 1.03858814e-01 5.66436845e-03 9.94575921e-01 -6.76790582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43534707 meters 0.030432801389984807 Centerline is valid? [True, True] Translation: X:-106.02, Y:10.14, Z:-6.77 [[ 9.57698009e-01 2.69544755e-01 -1.00797558e-01 -1.06022028e+02] [-2.68668566e-01 9.62971564e-01 2.24269655e-02 1.01382440e+01] [ 1.03110253e-01 5.60287510e-03 9.94654153e-01 -6.77228614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49534707 meters 0.027559405466027 Centerline is valid? [True, True] Translation: X:-106.08, Y:10.14, Z:-6.78 [[ 9.58392065e-01 2.66885965e-01 -1.01274535e-01 -1.06080477e+02] [-2.65985578e-01 9.63713367e-01 2.25437228e-02 1.01442303e+01] [ 1.03616226e-01 5.33184050e-03 9.94603061e-01 -6.77908288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55534707 meters 0.0265038873036024 Centerline is valid? [True, True] Translation: X:-106.14, Y:10.15, Z:-6.79 [[ 9.59563504e-01 2.61339011e-01 -1.04593515e-01 -1.06139423e+02] [-2.60343769e-01 9.65234785e-01 2.33009135e-02 1.01509730e+01] [ 1.07046737e-01 4.87156382e-03 9.94242055e-01 -6.79014786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61534707 meters 0.026123700926296792 Centerline is valid? [True, True] Translation: X:-106.20, Y:10.16, Z:-6.79 [[ 9.62697661e-01 2.52175431e-01 -9.80854973e-02 -1.06197340e+02] [-2.51250394e-01 9.67674895e-01 2.18754754e-02 1.01612927e+01] [ 1.00431331e-01 3.58455081e-03 9.94937535e-01 -6.79112978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67534707 meters 0.024857492072605836 Centerline is valid? [True, True] Translation: X:-106.26, Y:10.18, Z:-6.79 [[ 9.63293253e-01 2.51207829e-01 -9.46611591e-02 -1.06255782e+02] [-2.50340020e-01 9.67927396e-01 2.11289195e-02 1.01754319e+01] [ 9.69328792e-02 3.34413087e-03 9.95285303e-01 -6.78966878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73534707 meters 0.027826737370454813 Centerline is valid? [True, True] Translation: X:-106.31, Y:10.20, Z:-6.80 [[ 9.60477414e-01 2.61129308e-01 -9.64086196e-02 -1.06308894e+02] [-2.60276706e-01 9.65293781e-01 2.15395636e-02 1.02015789e+01] [ 9.86872523e-02 4.40465362e-03 9.95108750e-01 -6.79734652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79534707 meters 0.029057048775718297 Centerline is valid? [True, True] Translation: X:-106.36, Y:10.23, Z:-6.80 [[ 9.57419369e-01 2.72227217e-01 -9.61274925e-02 -1.06362773e+02] [-2.71434077e-01 9.62217161e-01 2.14866525e-02 1.02262031e+01] [ 9.83447746e-02 5.52053986e-03 9.95137091e-01 -6.80022662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85534707 meters 0.028090125113252783 Centerline is valid? [True, True] Translation: X:-106.42, Y:10.24, Z:-6.80 [[ 9.56829921e-01 2.74616912e-01 -9.51948216e-02 -1.06419251e+02] [-2.73849058e-01 9.61536871e-01 2.12964683e-02 1.02416035e+01] [ 9.73817012e-02 5.69191413e-03 9.95230831e-01 -6.80254636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91534707 meters 0.03052082023411994 Centerline is valid? [True, True] Translation: X:-106.47, Y:10.26, Z:-6.81 [[ 9.60130595e-01 2.64348508e-01 -9.09346260e-02 -1.06474590e+02] [-2.63599025e-01 9.64417148e-01 2.03744687e-02 1.02625623e+01] [ 9.30848731e-02 4.40812803e-03 9.95648419e-01 -6.81343636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97534707 meters 0.02459334842810599 Centerline is valid? [True, True] Translation: X:-106.53, Y:10.26, Z:-6.81 [[ 9.62206557e-01 2.56506128e-01 -9.14502504e-02 -1.06533814e+02] [-2.55710390e-01 9.66535732e-01 2.05152405e-02 1.02643759e+01] [ 9.36522196e-02 3.64488033e-03 9.95598301e-01 -6.81388459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03534707 meters 0.02426200270902586 Centerline is valid? [True, True] Translation: X:-106.59, Y:10.28, Z:-6.82 [[ 9.63627806e-01 2.52228048e-01 -8.83315501e-02 -1.06590846e+02] [-2.51466607e-01 9.67662840e-01 1.98286358e-02 1.02804646e+01] [ 9.04764967e-02 3.10501032e-03 9.95893751e-01 -6.81963857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09534707 meters 0.02340091477179264 Centerline is valid? [True, True] Translation: X:-106.65, Y:10.30, Z:-6.83 [[ 9.64660224e-01 2.48764769e-01 -8.68719827e-02 -1.06647848e+02] [-2.48012529e-01 9.68560128e-01 1.95208483e-02 1.02965287e+01] [ 8.89968380e-02 2.71435419e-03 9.96028210e-01 -6.82540013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15534707 meters 0.020696976442725296 Centerline is valid? [True, True] Translation: X:-106.71, Y:10.31, Z:-6.83 [[ 9.65895668e-01 2.43769718e-01 -8.73033973e-02 -1.06705959e+02] [-2.42989049e-01 9.69830512e-01 1.96239825e-02 1.03053396e+01] [ 8.94532311e-02 2.25904981e-03 9.95988462e-01 -6.83007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21534707 meters 0.019874608477432523 Centerline is valid? [True, True] Translation: X:-106.76, Y:10.32, Z:-6.83 [[ 9.66964152e-01 2.40664487e-01 -8.40293652e-02 -1.06763773e+02] [-2.39928819e-01 9.70606533e-01 1.88976382e-02 1.03208117e+01] [ 8.61074412e-02 1.88772767e-03 9.96284068e-01 -6.82980151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27534707 meters 0.019935115145079257 Centerline is valid? [True, True] Translation: X:-106.82, Y:10.34, Z:-6.83 [[ 9.66898338e-01 2.41698005e-01 -8.17904534e-02 -1.06819128e+02] [-2.41003230e-01 9.70349643e-01 1.84122978e-02 1.03404005e+01] [ 8.38155530e-02 1.90894327e-03 9.96479457e-01 -6.83294432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33534707 meters 0.020398408278220252 Centerline is valid? [True, True] Translation: X:-106.88, Y:10.36, Z:-6.84 [[ 9.66074923e-01 2.44536775e-01 -8.30723058e-02 -1.06875541e+02] [-2.43829306e-01 9.69637578e-01 1.87146443e-02 1.03607257e+01] [ 8.51264482e-02 2.17571407e-03 9.96367781e-01 -6.83530554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39534707 meters 0.021141580666043554 Centerline is valid? [True, True] Translation: X:-106.93, Y:10.38, Z:-6.84 [[ 9.65137279e-01 2.48229154e-01 -8.30199990e-02 -1.06931582e+02] [-2.47534151e-01 9.68698175e-01 1.87267137e-02 1.03798922e+01] [ 8.50698378e-02 2.47643540e-03 9.96371913e-01 -6.84024916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45534707 meters 0.021565958389278883 Centerline is valid? [True, True] Translation: X:-106.99, Y:10.40, Z:-6.84 [[ 9.64655169e-01 2.50719414e-01 -8.11183131e-02 -1.06987446e+02] [-2.50063010e-01 9.68056270e-01 1.83180031e-02 1.04003097e+01] [ 8.31197706e-02 2.61413309e-03 9.96536136e-01 -6.84215364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51534707 meters 0.022727126445772506 Centerline is valid? [True, True] Translation: X:-107.04, Y:10.42, Z:-6.85 [[ 9.63644536e-01 2.54580192e-01 -8.11056995e-02 -1.07043434e+02] [-2.53935585e-01 9.67047249e-01 1.83394636e-02 1.04212631e+01] [ 8.31019078e-02 2.92289940e-03 9.96536768e-01 -6.84572551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57534707 meters 0.01965597609150713 Centerline is valid? [True, True] Translation: X:-107.10, Y:10.43, Z:-6.85 [[ 9.63403680e-01 2.55023368e-01 -8.25616759e-02 -1.07102817e+02] [-2.54355561e-01 9.66930242e-01 1.86857149e-02 1.04287426e+01] [ 8.45966752e-02 2.99813480e-03 9.96410766e-01 -6.84544344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63534707 meters 0.023212262408217964 Centerline is valid? [True, True] Translation: X:-107.16, Y:10.46, Z:-6.85 [[ 9.62953820e-01 2.56685555e-01 -8.26587346e-02 -1.07156636e+02] [-2.56019665e-01 9.66489940e-01 1.87383932e-02 1.04554889e+01] [ 8.46987102e-02 3.11805426e-03 9.96401729e-01 -6.85194093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69534707 meters 0.02392326040628257 Centerline is valid? [True, True] Translation: X:-107.21, Y:10.47, Z:-6.85 [[ 9.62981497e-01 2.56768535e-01 -8.20765289e-02 -1.07213210e+02] [-2.56109804e-01 9.66468037e-01 1.86360185e-02 1.04741044e+01] [ 8.41094850e-02 3.07446270e-03 9.96451776e-01 -6.85424237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75534707 meters 0.02354453530983941 Centerline is valid? [True, True] Translation: X:-107.27, Y:10.49, Z:-6.85 [[ 9.62842162e-01 2.57446854e-01 -8.15848538e-02 -1.07269318e+02] [-2.56796576e-01 9.66287508e-01 1.85464331e-02 1.04881106e+01] [ 8.36091460e-02 3.09342336e-03 9.96493824e-01 -6.85387977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81534707 meters 0.02120898052798471 Centerline is valid? [True, True] Translation: X:-107.33, Y:10.50, Z:-6.85 [[ 9.62788038e-01 2.57000722e-01 -8.36051630e-02 -1.07326981e+02] [-2.56315284e-01 9.66406170e-01 1.90154928e-02 1.04972454e+01] [ 8.56835407e-02 3.12139212e-03 9.96317514e-01 -6.85431215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87534707 meters 0.021285944675531764 Centerline is valid? [True, True] Translation: X:-107.38, Y:10.51, Z:-6.86 [[ 9.62462647e-01 2.57059654e-01 -8.70975790e-02 -1.07384037e+02] [-2.56314428e-01 9.66390099e-01 1.98265090e-02 1.05118040e+01] [ 8.92668335e-02 3.24209181e-03 9.96002471e-01 -6.85875628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93534707 meters 0.02364998248667595 Centerline is valid? [True, True] Translation: X:-107.44, Y:10.53, Z:-6.87 [[ 9.62961881e-01 2.55504086e-01 -8.61514820e-02 -1.07439084e+02] [-2.54766032e-01 9.66803216e-01 1.96420735e-02 1.05348201e+01] [ 8.83101598e-02 3.03390324e-03 9.96088405e-01 -6.86632306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99534707 meters 0.019606733793342598 Centerline is valid? [True, True] Translation: X:-107.50, Y:10.54, Z:-6.86 [[ 9.63499718e-01 2.53166311e-01 -8.70351183e-02 -1.07497321e+02] [-2.52401099e-01 9.67418654e-01 1.98704245e-02 1.05421384e+01] [ 8.92299190e-02 2.82261109e-03 9.96007055e-01 -6.85875143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05534707 meters 0.022797481499186822 Centerline is valid? [True, True] Translation: X:-107.55, Y:10.57, Z:-6.86 [[ 9.62807319e-01 2.55928576e-01 -8.66177312e-02 -1.07552542e+02] [-2.55180307e-01 9.66690891e-01 1.97921976e-02 1.05658506e+01] [ 8.87979607e-02 3.04706663e-03 9.96044998e-01 -6.86445795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11534707 meters 0.022729514626741058 Centerline is valid? [True, True] Translation: X:-107.61, Y:10.58, Z:-6.87 [[ 9.62614260e-01 2.56433346e-01 -8.72681269e-02 -1.07609091e+02] [-2.55672949e-01 9.66556991e-01 1.99731306e-02 1.05841332e+01] [ 8.94713949e-02 3.08567898e-03 9.95984612e-01 -6.86597869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17534707 meters 0.023063807637656353 Centerline is valid? [True, True] Translation: X:-107.66, Y:10.60, Z:-6.87 [[ 9.61640879e-01 2.59502669e-01 -8.89110993e-02 -1.07664623e+02] [-2.58724124e-01 9.65736366e-01 2.03739537e-02 1.05999201e+01] [ 9.11517774e-02 3.41101953e-03 9.95831170e-01 -6.86789560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23534707 meters 0.022678252921986473 Centerline is valid? [True, True] Translation: X:-107.72, Y:10.62, Z:-6.87 [[ 9.61239163e-01 2.61086101e-01 -8.86189544e-02 -1.07721150e+02] [-2.60317903e-01 9.65309049e-01 2.03231064e-02 1.06160588e+01] [ 9.08507592e-02 3.53373465e-03 9.95858249e-01 -6.86673063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29534707 meters 0.02566345872952045 Centerline is valid? [True, True] Translation: X:-107.78, Y:10.64, Z:-6.87 [[ 9.60121548e-01 2.64927912e-01 -8.93298119e-02 -1.07776535e+02] [-2.64161605e-01 9.64260315e-01 2.05107692e-02 1.06383485e+01] [ 9.15710679e-02 3.90467496e-03 9.95790888e-01 -6.87161882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35534707 meters 0.025612827372634754 Centerline is valid? [True, True] Translation: X:-107.83, Y:10.66, Z:-6.87 [[ 9.59315748e-01 2.68070818e-01 -8.86077410e-02 -1.07832779e+02] [-2.67329442e-01 9.63390218e-01 2.03533047e-02 1.06554221e+01] [ 9.08199579e-02 4.16221226e-03 9.95858630e-01 -6.87157548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41534707 meters 0.02591228253379325 Centerline is valid? [True, True] Translation: X:-107.89, Y:10.67, Z:-6.87 [[ 9.58711617e-01 2.70534341e-01 -8.76538934e-02 -1.07890050e+02] [-2.69817880e-01 9.62700566e-01 2.01477341e-02 1.06710709e+01] [ 8.98351068e-02 4.33472090e-03 9.95947219e-01 -6.87376900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47534707 meters 0.02554983144013274 Centerline is valid? [True, True] Translation: X:-107.95, Y:10.68, Z:-6.88 [[ 9.59017367e-01 2.68349510e-01 -9.09627931e-02 -1.07947159e+02] [-2.67565255e-01 9.63312208e-01 2.09385887e-02 1.06837050e+01] [ 9.32444290e-02 4.25801276e-03 9.95634143e-01 -6.87929900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53534707 meters 0.02733322777524656 Centerline is valid? [True, True] Translation: X:-108.00, Y:10.70, Z:-6.88 [[ 9.59866614e-01 2.65286780e-01 -9.09890543e-02 -1.08004579e+02] [-2.64486099e-01 9.64161509e-01 2.09687371e-02 1.06980162e+01] [ 9.32908726e-02 3.93814932e-03 9.95631108e-01 -6.88136363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59534707 meters 0.022895303859968043 Centerline is valid? [True, True] Translation: X:-108.06, Y:10.71, Z:-6.88 [[ 9.59676909e-01 2.65781237e-01 -9.15454234e-02 -1.08062770e+02] [-2.64972171e-01 9.64025058e-01 2.11053589e-02 1.07059450e+01] [ 9.38614905e-02 4.00266396e-03 9.95577219e-01 -6.87954894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65534707 meters 0.025799818873216484 Centerline is valid? [True, True] Translation: X:-108.12, Y:10.73, Z:-6.88 [[ 9.59650685e-01 2.66445345e-01 -8.98745885e-02 -1.08117838e+02] [-2.65666827e-01 9.63841830e-01 2.07379729e-02 1.07282173e+01] [ 9.21504242e-02 3.97548692e-03 9.95737162e-01 -6.88320916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71534707 meters 0.02476830568975305 Centerline is valid? [True, True] Translation: X:-108.17, Y:10.74, Z:-6.89 [[ 9.59425335e-01 2.65897129e-01 -9.38176086e-02 -1.08174332e+02] [-2.65042727e-01 9.63992848e-01 2.16827493e-02 1.07431775e+01] [ 9.62048845e-02 4.06269578e-03 9.95353261e-01 -6.89090710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77534707 meters 0.025723371661983737 Centerline is valid? [True, True] Translation: X:-108.23, Y:10.76, Z:-6.90 [[ 9.59229587e-01 2.66335124e-01 -9.45737885e-02 -1.08230824e+02] [-2.65465839e-01 9.63871734e-01 2.18899007e-02 1.07595579e+01] [ 9.69870510e-02 4.10866970e-03 9.95277163e-01 -6.89560875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83534707 meters 0.024072251105655758 Centerline is valid? [True, True] Translation: X:-108.29, Y:10.77, Z:-6.89 [[ 9.59593249e-01 2.66110886e-01 -9.14647047e-02 -1.08288040e+02] [-2.65294568e-01 9.63934426e-01 2.11947030e-02 1.07708212e+01] [ 9.38061188e-02 3.92679541e-03 9.95582740e-01 -6.89302460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89534707 meters 0.02392245330427726 Centerline is valid? [True, True] Translation: X:-108.35, Y:10.79, Z:-6.89 [[ 9.59477470e-01 2.67222407e-01 -8.94157160e-02 -1.08345266e+02] [-2.66445640e-01 9.63626872e-01 2.07357641e-02 1.07875413e+01] [ 9.17044476e-02 3.92892925e-03 9.95778518e-01 -6.89127097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95534707 meters 0.026461408695527204 Centerline is valid? [True, True] Translation: X:-108.40, Y:10.81, Z:-6.91 [[ 9.58764425e-01 2.68535547e-01 -9.30560931e-02 -1.08399812e+02] [-2.67697781e-01 9.63260639e-01 2.16064693e-02 1.08100721e+01] [ 9.54393768e-02 4.19539547e-03 9.95426403e-01 -6.90618024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01534707 meters 0.026063378145717034 Centerline is valid? [True, True] Translation: X:-108.46, Y:10.82, Z:-6.91 [[ 9.58678491e-01 2.68622452e-01 -9.36884687e-02 -1.08456303e+02] [-2.67771919e-01 9.63236320e-01 2.17713299e-02 1.08236448e+01] [ 9.60924038e-02 4.21543532e-03 9.95363491e-01 -6.91010819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07534707 meters 0.026264419172568092 Centerline is valid? [True, True] Translation: X:-108.51, Y:10.84, Z:-6.90 [[ 9.59654684e-01 2.66503418e-01 -8.96594412e-02 -1.08514770e+02] [-2.65712542e-01 9.63826482e-01 2.08652455e-02 1.08393532e+01] [ 9.19768030e-02 3.80020747e-03 9.95753898e-01 -6.90071090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13534707 meters 0.023956763099299998 Centerline is valid? [True, True] Translation: X:-108.57, Y:10.85, Z:-6.90 [[ 9.59751231e-01 2.66450173e-01 -8.87799461e-02 -1.08570760e+02] [-2.65672739e-01 9.63841443e-01 2.06801336e-02 1.08547817e+01] [ 9.10800166e-02 3.73862780e-03 9.95836560e-01 -6.90441115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19534707 meters 0.026075803780870998 Centerline is valid? [True, True] Translation: X:-108.63, Y:10.87, Z:-6.91 [[ 9.58830230e-01 2.69126463e-01 -9.06395983e-02 -1.08626744e+02] [-2.68326408e-01 9.63096286e-01 2.11301280e-02 1.08740605e+01] [ 9.29813371e-02 4.06079234e-03 9.95659571e-01 -6.91353602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25534707 meters 0.023217007037057025 Centerline is valid? [True, True] Translation: X:-108.68, Y:10.88, Z:-6.92 [[ 9.60151736e-01 2.64151457e-01 -9.12833572e-02 -1.08683860e+02] [-2.63315269e-01 9.64474565e-01 2.13045295e-02 1.08847404e+01] [ 9.36680987e-02 3.58072076e-03 9.95597040e-01 -6.91501321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31534707 meters 0.02216806258320702 Centerline is valid? [True, True] Translation: X:-108.74, Y:10.90, Z:-6.92 [[ 9.60994996e-01 2.61529505e-01 -8.99496244e-02 -1.08742170e+02] [-2.60704744e-01 9.65189972e-01 2.10084371e-02 1.08984842e+01] [ 9.23128016e-02 3.26129094e-03 9.95724716e-01 -6.91800332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37534707 meters 0.022179690235885244 Centerline is valid? [True, True] Translation: X:-108.80, Y:10.92, Z:-6.92 [[ 9.61824487e-01 2.59266756e-01 -8.76036798e-02 -1.08798713e+02] [-2.58472936e-01 9.65801276e-01 2.04850437e-02 1.09188231e+01] [ 8.99188366e-02 2.94016360e-03 9.95944757e-01 -6.92031672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43534707 meters 0.022811701857878352 Centerline is valid? [True, True] Translation: X:-108.86, Y:10.94, Z:-6.92 [[ 9.61334506e-01 2.61167488e-01 -8.73356210e-02 -1.08855445e+02] [-2.60383990e-01 9.65288578e-01 2.04484612e-02 1.09369600e+01] [ 8.96445507e-02 3.08298609e-03 9.95969051e-01 -6.92183574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49534707 meters 0.021762496514150662 Centerline is valid? [True, True] Translation: X:-108.91, Y:10.95, Z:-6.93 [[ 9.61694362e-01 2.59617384e-01 -8.79929965e-02 -1.08912348e+02] [-2.58812771e-01 9.65707111e-01 2.06331341e-02 1.09537973e+01] [ 9.03321827e-02 2.93094245e-03 9.95907378e-01 -6.92613098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55534707 meters 0.022688096416616208 Centerline is valid? [True, True] Translation: X:-108.97, Y:10.97, Z:-6.93 [[ 9.61649065e-01 2.60694324e-01 -8.52616309e-02 -1.08967404e+02] [-2.59941006e-01 9.65416999e-01 2.00172883e-02 1.09749115e+01] [ 8.75314213e-02 2.91338749e-03 9.96157499e-01 -6.92786815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61534707 meters 0.0204376077813289 Centerline is valid? [True, True] Translation: X:-109.02, Y:10.99, Z:-6.92 [[ 9.61475427e-01 2.60944207e-01 -8.64472299e-02 -1.09024342e+02] [-2.60169642e-01 9.65349330e-01 2.03083283e-02 1.09852039e+01] [ 8.87511161e-02 2.96498619e-03 9.96049421e-01 -6.92469463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67534707 meters 0.02229423912750427 Centerline is valid? [True, True] Translation: X:-109.08, Y:11.00, Z:-6.93 [[ 9.60785836e-01 2.63091663e-01 -8.75976840e-02 -1.09079468e+02] [-2.62303263e-01 9.64765585e-01 2.06001129e-02 1.10048344e+01] [ 8.99309488e-02 3.18486170e-03 9.95942911e-01 -6.93471459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73534707 meters 0.021826245592863988 Centerline is valid? [True, True] Translation: X:-109.14, Y:11.02, Z:-6.94 [[ 9.61682303e-01 2.60591211e-01 -8.52019249e-02 -1.09136294e+02] [-2.59833412e-01 9.65445040e-01 2.00617390e-02 1.10221774e+01] [ 8.74856886e-02 2.84528743e-03 9.96161713e-01 -6.93622179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79534707 meters 0.021209518105889027 Centerline is valid? [True, True] Translation: X:-109.19, Y:11.03, Z:-6.94 [[ 9.61825104e-01 2.59910802e-01 -8.56670495e-02 -1.09192714e+02] [-2.59141332e-01 9.65628595e-01 2.01788649e-02 1.10343030e+01] [ 8.79672576e-02 2.79133447e-03 9.96119456e-01 -6.93980420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85534707 meters 0.0224127513915019 Centerline is valid? [True, True] Translation: X:-109.25, Y:11.05, Z:-6.95 [[ 9.61344605e-01 2.61847538e-01 -8.51611311e-02 -1.09249264e+02] [-2.61093345e-01 9.65104786e-01 2.00752740e-02 1.10521390e+01] [ 8.74460762e-02 2.93574828e-03 9.96164929e-01 -6.94542354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91534707 meters 0.02233541035166911 Centerline is valid? [True, True] Translation: X:-109.31, Y:11.07, Z:-6.95 [[ 9.60686247e-01 2.64343231e-01 -8.48798580e-02 -1.09305603e+02] [-2.63601382e-01 9.64423601e-01 2.00357097e-02 1.10665805e+01] [ 8.71564426e-02 3.12641707e-03 9.96189731e-01 -6.94818879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97534707 meters 0.022509189894159475 Centerline is valid? [True, True] Translation: X:-109.36, Y:11.08, Z:-6.95 [[ 9.60592180e-01 2.64694689e-01 -8.48491951e-02 -1.09362054e+02] [-2.63952957e-01 9.64327163e-01 2.00488906e-02 1.10822259e+01] [ 8.71292185e-02 3.13738850e-03 9.96192078e-01 -6.95022676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03534707 meters 0.022044694066167162 Centerline is valid? [True, True] Translation: X:-109.42, Y:11.09, Z:-6.96 [[ 9.59974527e-01 2.66585303e-01 -8.59138182e-02 -1.09418939e+02] [-2.65829296e-01 9.63805619e-01 2.03350373e-02 1.10948387e+01] [ 8.82252428e-02 3.31729193e-03 9.96095027e-01 -6.95602703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09534707 meters 0.02349258234653141 Centerline is valid? [True, True] Translation: X:-109.48, Y:11.11, Z:-6.96 [[ 9.58962244e-01 2.70064446e-01 -8.63516631e-02 -1.09475280e+02] [-2.69312451e-01 9.62835402e-01 2.04644188e-02 1.11119694e+01] [ 8.86691501e-02 3.63097301e-03 9.96054516e-01 -6.95929118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15534707 meters 0.024638996870055985 Centerline is valid? [True, True] Translation: X:-109.53, Y:11.13, Z:-6.96 [[ 9.58836162e-01 2.71113898e-01 -8.44421028e-02 -1.09530514e+02] [-2.70397664e-01 9.62540424e-01 2.00258839e-02 1.11331443e+01] [ 8.67082329e-02 3.63140564e-03 9.96227130e-01 -6.96257876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21534707 meters 0.02839896229943634 Centerline is valid? [True, True] Translation: X:-109.59, Y:11.16, Z:-6.97 [[ 9.58251528e-01 2.73178836e-01 -8.44235282e-02 -1.09585103e+02] [-2.72468285e-01 9.61955806e-01 2.00514818e-02 1.11561497e+01] [ 8.66893436e-02 3.78837082e-03 9.96228190e-01 -6.97094353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27534707 meters 0.023700490891668105 Centerline is valid? [True, True] Translation: X:-109.64, Y:11.16, Z:-6.97 [[ 9.58206249e-01 2.73011311e-01 -8.54728583e-02 -1.09643965e+02] [-2.72280108e-01 9.62003332e-01 2.03256339e-02 1.11599292e+01] [ 8.77743025e-02 3.79640965e-03 9.96133153e-01 -6.96933688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33534707 meters 0.02726696238720124 Centerline is valid? [True, True] Translation: X:-109.70, Y:11.18, Z:-6.98 [[ 9.57940662e-01 2.73822254e-01 -8.58548801e-02 -1.09699049e+02] [-2.73086299e-01 9.61772518e-01 2.04327173e-02 1.11831877e+01] [ 8.81677969e-02 3.87246075e-03 9.96098109e-01 -6.97665752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39534707 meters 0.025970202863878664 Centerline is valid? [True, True] Translation: X:-109.76, Y:11.20, Z:-6.98 [[ 9.58176753e-01 2.73105581e-01 -8.55023443e-02 -1.09755758e+02] [-2.72370553e-01 9.61976694e-01 2.03745451e-02 1.11961440e+01] [ 8.78156645e-02 3.76590537e-03 9.96129624e-01 -6.97961030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45534707 meters 0.025954620632663166 Centerline is valid? [True, True] Translation: X:-109.81, Y:11.21, Z:-6.98 [[ 9.57954655e-01 2.73536584e-01 -8.66060943e-02 -1.09812365e+02] [-2.72782867e-01 9.61853932e-01 2.06523756e-02 1.12129366e+01] [ 8.89515926e-02 3.84061936e-03 9.96028546e-01 -6.98396163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51534707 meters 0.026904100213445675 Centerline is valid? [True, True] Translation: X:-109.87, Y:11.23, Z:-6.99 [[ 9.58585728e-01 2.72031944e-01 -8.43328181e-02 -1.09868559e+02] [-2.71309617e-01 9.62281555e-01 2.01320861e-02 1.12330308e+01] [ 8.66284859e-02 3.58197419e-03 9.96234247e-01 -6.98691659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57534707 meters 0.027139155892429434 Centerline is valid? [True, True] Translation: X:-109.93, Y:11.25, Z:-6.99 [[ 9.58339054e-01 2.72884698e-01 -8.43812685e-02 -1.09925349e+02] [-2.72163880e-01 9.62039820e-01 2.01545977e-02 1.12502084e+01] [ 8.66780216e-02 3.65059534e-03 9.96229689e-01 -6.98807097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63534707 meters 0.026654580979764583 Centerline is valid? [True, True] Translation: X:-109.98, Y:11.27, Z:-7.00 [[ 9.57563604e-01 2.74607109e-01 -8.75378794e-02 -1.09981945e+02] [-2.73835951e-01 9.61548514e-01 2.09362858e-02 1.12667727e+01] [ 8.99211708e-02 3.92319310e-03 9.95941159e-01 -6.99838660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69534707 meters 0.026573952714527074 Centerline is valid? [True, True] Translation: X:-110.04, Y:11.28, Z:-7.00 [[ 9.57197731e-01 2.75827619e-01 -8.77019346e-02 -1.10038579e+02] [-2.75056255e-01 9.61198713e-01 2.10021548e-02 1.12828963e+01] [ 9.00919611e-02 4.01975071e-03 9.95925339e-01 -7.00316827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75534707 meters 0.025561662168407922 Centerline is valid? [True, True] Translation: X:-110.09, Y:11.30, Z:-7.00 [[ 9.57441057e-01 2.75766818e-01 -8.52014318e-02 -1.10094795e+02] [-2.75036634e-01 9.61216745e-01 2.04259265e-02 1.12989212e+01] [ 8.75298357e-02 3.87689430e-03 9.96154354e-01 -7.00079252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81534707 meters 0.02448758460544382 Centerline is valid? [True, True] Translation: X:-110.15, Y:11.32, Z:-7.00 [[ 9.57673739e-01 2.75357540e-01 -8.39001466e-02 -1.10150150e+02] [-2.74647097e-01 9.61334492e-01 2.01237819e-02 1.13159816e+01] [ 8.61973399e-02 3.77091421e-03 9.96270946e-01 -7.00220614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87534707 meters 0.024680406070767665 Centerline is valid? [True, True] Translation: X:-110.21, Y:11.33, Z:-7.01 [[ 9.57380123e-01 2.75803270e-01 -8.57662834e-02 -1.10206125e+02] [-2.75061257e-01 9.61206268e-01 2.05867820e-02 1.13340703e+01] [ 8.81169910e-02 3.88160589e-03 9.96102570e-01 -7.01196800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93534707 meters 0.023831971934712037 Centerline is valid? [True, True] Translation: X:-110.26, Y:11.35, Z:-7.01 [[ 9.58995124e-01 2.70850006e-01 -8.34783049e-02 -1.10262778e+02] [-2.70126426e-01 9.62615865e-01 2.00601542e-02 1.13524326e+01] [ 8.57908336e-02 3.31210605e-03 9.96307665e-01 -7.01241731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99534707 meters 0.021314809558327 Centerline is valid? [True, True] Translation: X:-110.32, Y:11.36, Z:-7.01 [[ 9.59485260e-01 2.69454173e-01 -8.23558385e-02 -1.10319990e+02] [-2.68744321e-01 9.63008099e-01 1.97962403e-02 1.13617406e+01] [ 8.46435190e-02 3.13846312e-03 9.96406355e-01 -7.01279027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05534707 meters 0.02052697083685783 Centerline is valid? [True, True] Translation: X:-110.37, Y:11.38, Z:-7.02 [[ 9.59402519e-01 2.69707619e-01 -8.24900404e-02 -1.10374862e+02] [-2.68995409e-01 9.62937094e-01 1.98399409e-02 1.13752249e+01] [ 8.47837030e-02 3.15495287e-03 9.96394385e-01 -7.01637441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11534707 meters 0.020695911961667673 Centerline is valid? [True, True] Translation: X:-110.43, Y:11.39, Z:-7.02 [[ 9.59619820e-01 2.69154662e-01 -8.17653330e-02 -1.10430624e+02] [-2.68451396e-01 9.63092102e-01 1.96837581e-02 1.13942392e+01] [ 8.40455217e-02 3.06109344e-03 9.96457214e-01 -7.01894195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17534707 meters 0.021023623917621845 Centerline is valid? [True, True] Translation: X:-110.49, Y:11.41, Z:-7.02 [[ 9.59576963e-01 2.69575837e-01 -8.08759531e-02 -1.10487220e+02] [-2.68886826e-01 9.62974379e-01 1.94992410e-02 1.14127832e+01] [ 8.31379949e-02 3.03545589e-03 9.96533421e-01 -7.02140416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23534707 meters 0.01983929256047149 Centerline is valid? [True, True] Translation: X:-110.54, Y:11.43, Z:-7.03 [[ 9.59452479e-01 2.69853844e-01 -8.14238556e-02 -1.10542934e+02] [-2.69154285e-01 9.62896447e-01 1.96571548e-02 1.14268435e+01] [ 8.37073001e-02 3.05547374e-03 9.96485701e-01 -7.02612945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29534707 meters 0.019674719744979467 Centerline is valid? [True, True] Translation: X:-110.60, Y:11.44, Z:-7.03 [[ 9.59483022e-01 2.69997074e-01 -8.05848016e-02 -1.10600456e+02] [-2.69311146e-01 9.62856401e-01 1.94694098e-02 1.14422339e+01] [ 8.28482757e-02 3.02181714e-03 9.96557591e-01 -7.02627139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35534707 meters 0.02293363592210683 Centerline is valid? [True, True] Translation: X:-110.66, Y:11.46, Z:-7.03 [[ 9.57972297e-01 2.75700356e-01 -7.92362984e-02 -1.10657429e+02] [-2.75054290e-01 9.61237517e-01 1.91722155e-02 1.14607692e+01] [ 8.14506893e-02 3.42783249e-03 9.96671478e-01 -7.03147836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41534707 meters 0.021245431704819524 Centerline is valid? [True, True] Translation: X:-110.72, Y:11.47, Z:-7.03 [[ 9.57321394e-01 2.77430501e-01 -8.10435985e-02 -1.10715183e+02] [-2.76758507e-01 9.60738847e-01 1.96365964e-02 1.14704281e+01] [ 8.33095242e-02 3.63097145e-03 9.96517104e-01 -7.03413850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47534707 meters 0.0231120271564106 Centerline is valid? [True, True] Translation: X:-110.77, Y:11.49, Z:-7.04 [[ 9.57106963e-01 2.78845557e-01 -7.86855556e-02 -1.10770862e+02] [-2.78214341e-01 9.60329160e-01 1.90967351e-02 1.14878907e+01] [ 8.08890733e-02 3.61383178e-03 9.96716559e-01 -7.03676413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53534707 meters 0.020863979629961546 Centerline is valid? [True, True] Translation: X:-110.83, Y:11.50, Z:-7.04 [[ 9.57532591e-01 2.77621973e-01 -7.78291470e-02 -1.10827580e+02] [-2.76997892e-01 9.60684232e-01 1.89201970e-02 1.14986587e+01] [ 8.00218968e-02 3.44180443e-03 9.96787164e-01 -7.03873789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59534707 meters 0.01970914643999922 Centerline is valid? [True, True] Translation: X:-110.89, Y:11.51, Z:-7.04 [[ 9.59238126e-01 2.72581764e-01 -7.45747921e-02 -1.10885901e+02] [-2.71992895e-01 9.62128297e-01 1.81384837e-02 1.15112239e+01] [ 7.66947377e-02 2.88468847e-03 9.97050448e-01 -7.04136387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65534707 meters 0.019421241427145006 Centerline is valid? [True, True] Translation: X:-110.94, Y:11.52, Z:-7.05 [[ 9.60711338e-01 2.67664441e-01 -7.34130182e-02 -1.10943623e+02] [-2.67079050e-01 9.63509085e-01 1.78612568e-02 1.15248384e+01] [ 7.55149333e-02 2.44756727e-03 9.97141667e-01 -7.04678398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71534707 meters 0.018057861252885044 Centerline is valid? [True, True] Translation: X:-111.00, Y:11.54, Z:-7.05 [[ 9.61825090e-01 2.64152305e-01 -7.15266120e-02 -1.11001223e+02] [-2.63586633e-01 9.64478668e-01 1.74064728e-02 1.15359206e+01] [ 7.35838514e-02 2.11147662e-03 9.97286799e-01 -7.04712676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77534707 meters 0.017369389277275153 Centerline is valid? [True, True] Translation: X:-111.06, Y:11.55, Z:-7.05 [[ 9.63381067e-01 2.59690919e-01 -6.67648548e-02 -1.11058683e+02] [-2.59187058e-01 9.65690382e-01 1.62528432e-02 1.15501434e+01] [ 6.86948940e-02 1.64690488e-03 9.97636356e-01 -7.05014510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83534707 meters 0.016965284827079128 Centerline is valid? [True, True] Translation: X:-111.12, Y:11.56, Z:-7.05 [[ 9.63829455e-01 2.58661217e-01 -6.42429493e-02 -1.11116129e+02] [-2.58191960e-01 9.65966927e-01 1.56463216e-02 1.15645405e+01] [ 6.61036609e-02 1.50662732e-03 9.97811624e-01 -7.05050123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89534707 meters 0.01875435196950978 Centerline is valid? [True, True] Translation: X:-111.17, Y:11.58, Z:-7.05 [[ 9.64369176e-01 2.57596807e-01 -6.02990719e-02 -1.11171971e+02] [-2.57180007e-01 9.66251588e-01 1.47075655e-02 1.15840112e+01] [ 6.20526959e-02 1.32419292e-03 9.98071996e-01 -7.05293472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95534707 meters 0.01767180353980423 Centerline is valid? [True, True] Translation: X:-111.23, Y:11.60, Z:-7.05 [[ 9.64603786e-01 2.57280091e-01 -5.78488663e-02 -1.11226821e+02] [-2.56894542e-01 9.66336094e-01 1.41332047e-02 1.16005345e+01] [ 5.95376396e-02 1.22811529e-03 9.98225306e-01 -7.05041140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01534707 meters 0.016801674518302452 Centerline is valid? [True, True] Translation: X:-111.28, Y:11.61, Z:-7.05 [[ 9.65775004e-01 2.53829621e-01 -5.33775752e-02 -1.11283346e+02] [-2.53495617e-01 9.67248501e-01 1.30502430e-02 1.16145606e+01] [ 5.49419179e-02 9.27382879e-04 9.98489121e-01 -7.05184049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07534707 meters 0.01703639447976706 Centerline is valid? [True, True] Translation: X:-111.34, Y:11.63, Z:-7.05 [[ 9.66160335e-01 2.53037109e-01 -5.00642410e-02 -1.11339955e+02] [-2.52742101e-01 9.67456222e-01 1.22429192e-02 1.16300685e+01] [ 5.15328743e-02 8.24718520e-04 9.98670958e-01 -7.05063821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13534707 meters 0.01626780631161778 Centerline is valid? [True, True] Translation: X:-111.40, Y:11.64, Z:-7.05 [[ 9.66863333e-01 2.50936044e-01 -4.69722998e-02 -1.11396102e+02] [-2.50673134e-01 9.68003448e-01 1.15024042e-02 1.16431012e+01] [ 4.83557160e-02 6.53440682e-04 9.98829964e-01 -7.05217976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19534707 meters 0.01613291339572933 Centerline is valid? [True, True] Translation: X:-111.45, Y:11.66, Z:-7.05 [[ 9.67317973e-01 2.49566867e-01 -4.48588701e-02 -1.11452415e+02] [-2.49324516e-01 9.68357420e-01 1.10087986e-02 1.16572627e+01] [ 4.61868511e-02 5.35407313e-04 9.98932674e-01 -7.05483797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25534707 meters 0.016457577948819427 Centerline is valid? [True, True] Translation: X:-111.51, Y:11.67, Z:-7.06 [[ 9.67264986e-01 2.49898966e-01 -4.41469479e-02 -1.11508465e+02] [-2.49664604e-01 9.68271766e-01 1.08338831e-02 1.16711243e+01] [ 4.54536194e-02 5.42694453e-04 9.98966303e-01 -7.05647714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31534707 meters 0.016733552544964524 Centerline is valid? [True, True] Translation: X:-111.57, Y:11.69, Z:-7.06 [[ 9.67434111e-01 2.49767717e-01 -4.10771123e-02 -1.11566074e+02] [-2.49563869e-01 9.68305663e-01 1.01003881e-02 1.16852797e+01] [ 4.22979513e-02 4.79903151e-04 9.99104926e-01 -7.06049710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37534707 meters 0.017182073151870113 Centerline is valid? [True, True] Translation: X:-111.62, Y:11.70, Z:-7.06 [[ 9.67968324e-01 2.48013504e-01 -3.90720576e-02 -1.11623180e+02] [-2.47827162e-01 9.68756504e-01 9.61946591e-03 1.16982096e+01] [ 4.02370673e-02 3.71778868e-04 9.99190092e-01 -7.06108193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43534707 meters 0.01788769104186182 Centerline is valid? [True, True] Translation: X:-111.68, Y:11.71, Z:-7.06 [[ 9.67017738e-01 2.51603060e-01 -3.96559508e-02 -1.11679731e+02] [-2.51413533e-01 9.67830375e-01 9.77755024e-03 1.17122114e+01] [ 4.08402953e-02 5.14978164e-04 9.99165554e-01 -7.06310714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49534707 meters 0.019082861658779527 Centerline is valid? [True, True] Translation: X:-111.74, Y:11.73, Z:-7.07 [[ 9.65438639e-01 2.57422742e-01 -4.07647570e-02 -1.11736740e+02] [-2.57226722e-01 9.66298583e-01 1.00727891e-02 1.17278196e+01] [ 4.19838919e-02 7.61125006e-04 9.99117998e-01 -7.06540118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55534707 meters 0.01920920961849429 Centerline is valid? [True, True] Translation: X:-111.79, Y:11.74, Z:-7.07 [[ 9.64162487e-01 2.62235309e-01 -4.02907216e-02 -1.11792651e+02] [-2.62047408e-01 9.65003497e-01 9.97028553e-03 1.17447270e+01] [ 4.14952481e-02 9.45103841e-04 9.99138254e-01 -7.06849711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61534707 meters 0.0196771836115643 Centerline is valid? [True, True] Translation: X:-111.85, Y:11.76, Z:-7.07 [[ 9.62094263e-01 2.69427598e-01 -4.22303097e-02 -1.11849291e+02] [-2.69227124e-01 9.63019778e-01 1.04719711e-02 1.17611043e+01] [ 4.34900615e-02 1.29452150e-03 9.99053021e-01 -7.07253892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67534707 meters 0.021073437877652236 Centerline is valid? [True, True] Translation: X:-111.91, Y:11.78, Z:-7.07 [[ 9.59975556e-01 2.76547174e-01 -4.43688203e-02 -1.11906312e+02] [-2.76332988e-01 9.60998860e-01 1.10123508e-02 1.17808826e+01] [ 4.56838201e-02 1.68898109e-03 9.98954521e-01 -7.07424535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73534707 meters 0.02401979975242418 Centerline is valid? [True, True] Translation: X:-111.96, Y:11.80, Z:-7.07 [[ 9.58538752e-01 2.81198835e-01 -4.61592425e-02 -1.11961238e+02] [-2.80972088e-01 9.59647481e-01 1.14628946e-02 1.18048800e+01] [ 4.75199533e-02 1.98183006e-03 9.98868323e-01 -7.07090140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79534707 meters 0.022538173000059048 Centerline is valid? [True, True] Translation: X:-112.02, Y:11.82, Z:-7.07 [[ 9.58643799e-01 2.81022476e-01 -4.50381419e-02 -1.12017014e+02] [-2.80806349e-01 9.59699259e-01 1.11860104e-02 1.18164816e+01] [ 4.63665918e-02 1.92359666e-03 9.98922639e-01 -7.07159743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85534707 meters 0.02148676541409192 Centerline is valid? [True, True] Translation: X:-112.07, Y:11.83, Z:-7.07 [[ 9.59259978e-01 2.78740913e-01 -4.60846813e-02 -1.12073990e+02] [-2.78511177e-01 9.60364578e-01 1.14631066e-02 1.18297499e+01] [ 4.74533323e-02 1.83899937e-03 9.98871763e-01 -7.06875786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91534707 meters 0.02027930197247357 Centerline is valid? [True, True] Translation: X:-112.13, Y:11.84, Z:-7.07 [[ 9.60037390e-01 2.76072051e-01 -4.59612050e-02 -1.12131647e+02] [-2.75840408e-01 9.61135438e-01 1.14341293e-02 1.18446016e+01] [ 4.73315864e-02 1.70076587e-03 9.98877784e-01 -7.06564596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97534707 meters 0.019436454240784943 Centerline is valid? [True, True] Translation: X:-112.19, Y:11.86, Z:-7.06 [[ 9.62086507e-01 2.68484324e-01 -4.80179163e-02 -1.12190392e+02] [-2.68220729e-01 9.63283092e-01 1.19718936e-02 1.18602396e+01] [ 4.94691127e-02 1.36140317e-03 9.98774726e-01 -7.05564078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03534707 meters 0.017487700947783142 Centerline is valid? [True, True] Translation: X:-112.25, Y:11.87, Z:-7.05 [[ 9.64273653e-01 2.60156422e-01 -4.99495649e-02 -1.12249650e+02] [-2.59859922e-01 9.65565998e-01 1.24549286e-02 1.18719364e+01] [ 5.14698311e-02 9.69930520e-04 9.98674079e-01 -7.05150595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09534707 meters 0.016978997467645966 Centerline is valid? [True, True] Translation: X:-112.31, Y:11.89, Z:-7.04 [[ 9.64829961e-01 2.57003185e-01 -5.52495106e-02 -1.12307208e+02] [-2.56635215e-01 9.66410149e-01 1.37764437e-02 1.18869814e+01] [ 5.69342776e-02 8.87044360e-04 9.98377534e-01 -7.04327971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15534707 meters 0.015143614807838993 Centerline is valid? [True, True] Translation: X:-112.36, Y:11.90, Z:-7.04 [[ 9.65011449e-01 2.56114981e-01 -5.61962585e-02 -1.12363127e+02] [-2.55731432e-01 9.66645971e-01 1.40357206e-02 1.19024273e+01] [ 5.79166452e-02 8.26518533e-04 9.98321080e-01 -7.03671218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21534706999999 meters 0.014874354529459738 Centerline is valid? [True, True] Translation: X:-112.42, Y:11.92, Z:-7.03 [[ 9.64226781e-01 2.58425495e-01 -5.90167672e-02 -1.12418395e+02] [-2.58006344e-01 9.66030667e-01 1.47471070e-02 1.19219157e+01] [ 6.08230354e-02 1.00714485e-03 9.98148057e-01 -7.03304006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27534707 meters 0.014473339546425202 Centerline is valid? [True, True] Translation: X:-112.47, Y:11.94, Z:-7.03 [[ 9.64304837e-01 2.57828473e-01 -6.03378731e-02 -1.12474567e+02] [-2.57387432e-01 9.66190224e-01 1.51050151e-02 1.19366893e+01] [ 6.21923661e-02 9.64371119e-04 9.98063715e-01 -7.03255675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33534707 meters 0.015050508963258423 Centerline is valid? [True, True] Translation: X:-112.53, Y:11.96, Z:-7.03 [[ 9.64227362e-01 2.57812650e-01 -6.16297905e-02 -1.12529167e+02] [-2.57351922e-01 9.66194435e-01 1.54370600e-02 1.19603728e+01] [ 6.35262299e-02 9.75709380e-04 9.97979692e-01 -7.02602591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39534707 meters 0.014569548792059473 Centerline is valid? [True, True] Translation: X:-112.59, Y:11.98, Z:-7.02 [[ 9.64648864e-01 2.56273427e-01 -6.14532321e-02 -1.12586396e+02] [-2.55810357e-01 9.66603962e-01 1.54221263e-02 1.19775587e+01] [ 6.33532187e-02 8.43436565e-04 9.97990811e-01 -7.02113666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45534707 meters 0.014306847701709542 Centerline is valid? [True, True] Translation: X:-112.64, Y:11.99, Z:-7.02 [[ 9.65161060e-01 2.54026615e-01 -6.27264504e-02 -1.12642521e+02] [-2.53537742e-01 9.67196986e-01 1.57671954e-02 1.19926587e+01] [ 6.46741210e-02 6.85639596e-04 9.97906202e-01 -7.02201931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51534707 meters 0.014043175147684231 Centerline is valid? [True, True] Translation: X:-112.70, Y:12.01, Z:-7.02 [[ 9.65906950e-01 2.51333646e-01 -6.20899530e-02 -1.12699037e+02] [-2.50848542e-01 9.67900386e-01 1.56157704e-02 1.20089585e+01] [ 6.40216580e-02 4.91793084e-04 9.97948388e-01 -7.02221305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57534707 meters 0.014144515192722014 Centerline is valid? [True, True] Translation: X:-112.75, Y:12.02, Z:-7.02 [[ 9.65919661e-01 2.50773531e-01 -6.41236672e-02 -1.12754568e+02] [-2.50253209e-01 9.68045680e-01 1.61522058e-02 1.20242406e+01] [ 6.61251846e-02 4.45420259e-04 9.97811235e-01 -7.02239286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63534707 meters 0.014283027318094966 Centerline is valid? [True, True] Translation: X:-112.81, Y:12.04, Z:-7.02 [[ 9.65573829e-01 2.51827469e-01 -6.51928491e-02 -1.12810303e+02] [-2.51291320e-01 9.67772008e-01 1.64320590e-02 1.20422220e+01] [ 6.72298583e-02 5.16031019e-04 9.97737380e-01 -7.02353048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69534707 meters 0.014547613516328512 Centerline is valid? [True, True] Translation: X:-112.87, Y:12.06, Z:-7.02 [[ 9.65119423e-01 2.53516194e-01 -6.53761270e-02 -1.12865968e+02] [-2.52978732e-01 9.67330954e-01 1.65102137e-02 1.20585399e+01] [ 6.74259578e-02 6.04441817e-04 9.97724098e-01 -7.02424505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75534707 meters 0.014863884415310051 Centerline is valid? [True, True] Translation: X:-112.92, Y:12.08, Z:-7.03 [[ 9.63796366e-01 2.58318520e-01 -6.60916509e-02 -1.12921876e+02] [-2.57779776e-01 9.66059345e-01 1.67011893e-02 1.20767395e+01] [ 6.81626835e-02 9.40545416e-04 9.97673776e-01 -7.02806914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81534707 meters 0.015595360374566616 Centerline is valid? [True, True] Translation: X:-112.98, Y:12.10, Z:-7.03 [[ 9.62788973e-01 2.61890761e-01 -6.67129906e-02 -1.12977481e+02] [-2.61348491e-01 9.65096804e-01 1.68856320e-02 1.20957543e+01] [ 6.88066851e-02 1.17803916e-03 9.97629316e-01 -7.02936231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87534707 meters 0.017546172026967705 Centerline is valid? [True, True] Translation: X:-113.03, Y:12.12, Z:-7.03 [[ 9.60883047e-01 2.68952001e-01 -6.60953253e-02 -1.13032998e+02] [-2.68434484e-01 9.63152184e-01 1.67570367e-02 1.21183148e+01] [ 6.81666955e-02 1.64071208e-03 9.97672596e-01 -7.03301050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93534707 meters 0.019145742968343236 Centerline is valid? [True, True] Translation: X:-113.09, Y:12.14, Z:-7.04 [[ 9.58177436e-01 2.77935421e-01 -6.81755243e-02 -1.13088387e+02] [-2.77405613e-01 9.60596945e-01 1.73099864e-02 1.21387190e+01] [ 7.03002587e-02 2.32623475e-03 9.97523164e-01 -7.03621979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99534707 meters 0.02336601929270332 Centerline is valid? [True, True] Translation: X:-113.14, Y:12.17, Z:-7.04 [[ 9.53639132e-01 2.92584560e-01 -7.04746814e-02 -1.13142498e+02] [-2.92057775e-01 9.56233195e-01 1.78978535e-02 1.21668178e+01] [ 7.26268653e-02 3.51458518e-03 9.97352990e-01 -7.04265640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05534707 meters 0.031864303846385486 Centerline is valid? [True, True] Translation: X:-113.19, Y:12.20, Z:-7.05 [[ 9.48897881e-01 3.07539576e-01 -7.07970395e-02 -1.13194660e+02] [-3.07048831e-01 9.51523817e-01 1.79844454e-02 1.22030399e+01] [ 7.28959979e-02 4.67274611e-03 9.97328601e-01 -7.04653650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11534707 meters 0.027041988902948868 Centerline is valid? [True, True] Translation: X:-113.25, Y:12.21, Z:-7.05 [[ 9.48251422e-01 3.09700162e-01 -7.00360723e-02 -1.13253202e+02] [-3.09225460e-01 9.50822243e-01 1.77954065e-02 1.22097292e+01] [ 7.21030956e-02 4.78241719e-03 9.97385719e-01 -7.04604016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17534707 meters 0.025511035574873834 Centerline is valid? [True, True] Translation: X:-113.31, Y:12.22, Z:-7.05 [[ 9.49268056e-01 3.06610233e-01 -6.98593147e-02 -1.13311726e+02] [-3.06129042e-01 9.51824383e-01 1.77581955e-02 1.22224747e+01] [ 7.19386436e-02 4.52867731e-03 9.97398778e-01 -7.04831685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23534707 meters 0.028953562785234793 Centerline is valid? [True, True] Translation: X:-113.37, Y:12.24, Z:-7.05 [[ 9.50026296e-01 3.03635143e-01 -7.24964587e-02 -1.13367378e+02] [-3.03107941e-01 9.52777933e-01 1.84332964e-02 1.22429261e+01] [ 7.46700227e-02 4.46213602e-03 9.97198314e-01 -7.05209989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29534707 meters 0.02476951485131254 Centerline is valid? [True, True] Translation: X:-113.43, Y:12.25, Z:-7.05 [[ 9.51121852e-01 3.00043874e-01 -7.30814340e-02 -1.13428110e+02] [-2.99497086e-01 9.53916122e-01 1.85883818e-02 1.22473963e+01] [ 7.52908882e-02 4.20786036e-03 9.97152735e-01 -7.05256872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35534707 meters 0.025029978195964815 Centerline is valid? [True, True] Translation: X:-113.49, Y:12.26, Z:-7.05 [[ 9.51113806e-01 3.00240768e-01 -7.23740982e-02 -1.13485527e+02] [-2.99704561e-01 9.53854311e-01 1.84155017e-02 1.22611659e+01] [ 7.45634299e-02 4.17560935e-03 9.97207531e-01 -7.05398316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41534707 meters 0.02406225299980714 Centerline is valid? [True, True] Translation: X:-113.54, Y:12.27, Z:-7.06 [[ 9.50263659e-01 3.02572237e-01 -7.38174721e-02 -1.13542245e+02] [-3.02019337e-01 9.53116208e-01 1.88099574e-02 1.22732861e+01] [ 7.60480000e-02 4.41988500e-03 9.97094362e-01 -7.05654502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47534707 meters 0.027445583410818156 Centerline is valid? [True, True] Translation: X:-113.60, Y:12.29, Z:-7.06 [[ 9.48546992e-01 3.07683242e-01 -7.47638044e-02 -1.13598667e+02] [-3.07131235e-01 9.51476310e-01 1.90587799e-02 1.22945613e+01] [ 7.70000559e-02 4.88415124e-03 9.97019125e-01 -7.05776493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53534707 meters 0.029810968947169152 Centerline is valid? [True, True] Translation: X:-113.66, Y:12.31, Z:-7.06 [[ 9.47197999e-01 3.11769196e-01 -7.49394335e-02 -1.13655154e+02] [-3.11227033e-01 9.50143497e-01 1.91067810e-02 1.23135598e+01] [ 7.71601212e-02 5.22527281e-03 9.97005021e-01 -7.06266702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59534707 meters 0.02961428687162309 Centerline is valid? [True, True] Translation: X:-113.71, Y:12.33, Z:-7.06 [[ 9.46423119e-01 3.13824362e-01 -7.61416381e-02 -1.13713156e+02] [-3.13270783e-01 9.49465273e-01 1.94193574e-02 1.23257409e+01] [ 7.83881086e-02 5.47402181e-03 9.96907889e-01 -7.06416984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65534707 meters 0.030740851320500036 Centerline is valid? [True, True] Translation: X:-113.77, Y:12.34, Z:-7.07 [[ 9.44840989e-01 3.18060745e-01 -7.81848358e-02 -1.13771798e+02] [-3.17490424e-01 9.48051535e-01 1.99528714e-02 1.23376569e+01] [ 8.04694788e-02 5.97064590e-03 9.96739191e-01 -7.06973500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71534706999999 meters 0.03425358077420204 Centerline is valid? [True, True] Translation: X:-113.83, Y:12.36, Z:-7.08 [[ 9.44274116e-01 3.19773635e-01 -7.80462433e-02 -1.13827565e+02] [-3.19210478e-01 9.47474347e-01 1.99256769e-02 1.23577624e+01] [ 8.03185195e-02 6.09787766e-03 9.96750596e-01 -7.07504363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77534707 meters 0.03021986192242763 Centerline is valid? [True, True] Translation: X:-113.89, Y:12.36, Z:-7.08 [[ 9.44283334e-01 3.19596154e-01 -7.86592942e-02 -1.13885912e+02] [-3.19021297e-01 9.47534182e-01 2.01093373e-02 1.23636642e+01] [ 8.09592369e-02 6.10507803e-03 9.96698716e-01 -7.07897118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83534707 meters 0.03211620088263348 Centerline is valid? [True, True] Translation: X:-113.94, Y:12.38, Z:-7.08 [[ 9.44344159e-01 3.19280733e-01 -7.92081030e-02 -1.13941936e+02] [-3.18695538e-01 9.47640501e-01 2.02641390e-02 1.23806143e+01] [ 8.15307555e-02 6.10694768e-03 9.96652116e-01 -7.08288433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89534707 meters 0.029703812185888995 Centerline is valid? [True, True] Translation: X:-114.00, Y:12.39, Z:-7.08 [[ 9.44061397e-01 3.20053244e-01 -7.94606797e-02 -1.14000102e+02] [-3.19464864e-01 9.47379476e-01 2.03550848e-02 1.23885744e+01] [ 8.17941280e-02 6.16844544e-03 9.96630158e-01 -7.08421133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95534707 meters 0.03180164871566169 Centerline is valid? [True, True] Translation: X:-114.06, Y:12.41, Z:-7.09 [[ 9.43943310e-01 3.20757540e-01 -7.80104420e-02 -1.14055012e+02] [-3.20191242e-01 9.47141719e-01 2.00033070e-02 1.24088200e+01] [ 8.03031557e-02 6.09627249e-03 9.96751844e-01 -7.08716841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01534707 meters 0.04091055434930843 Centerline is valid? [True, True] Translation: X:-114.11, Y:12.44, Z:-7.10 [[ 9.42451340e-01 3.24879208e-01 -7.89871695e-02 -1.14107744e+02] [-3.24310508e-01 9.45733184e-01 2.02839862e-02 1.24421054e+01] [ 8.12906327e-02 6.49969910e-03 9.96669247e-01 -7.09805439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07534707 meters 0.03628885025811807 Centerline is valid? [True, True] Translation: X:-114.17, Y:12.45, Z:-7.10 [[ 9.42052823e-01 3.25833118e-01 -7.98076350e-02 -1.14165999e+02] [-3.25255555e-01 9.45403937e-01 2.04992723e-02 1.24472859e+01] [ 8.21297941e-02 6.64647928e-03 9.96599479e-01 -7.10009819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13534707 meters 0.03185211320437002 Centerline is valid? [True, True] Translation: X:-114.23, Y:12.45, Z:-7.10 [[ 9.41225372e-01 3.28175956e-01 -7.99708778e-02 -1.14225955e+02] [-3.27603661e-01 9.44591727e-01 2.05501854e-02 1.24519447e+01] [ 8.22839063e-02 6.85639643e-03 9.96585344e-01 -7.09926264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19534707 meters 0.03664406276434768 Centerline is valid? [True, True] Translation: X:-114.28, Y:12.48, Z:-7.11 [[ 9.41450370e-01 3.27871806e-01 -7.85574942e-02 -1.14279835e+02] [-3.27317734e-01 9.44698470e-01 2.01965621e-02 1.24767120e+01] [ 8.08350278e-02 6.69920020e-03 9.96704981e-01 -7.10797193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25534707 meters 0.0360494801177439 Centerline is valid? [True, True] Translation: X:-114.34, Y:12.49, Z:-7.11 [[ 9.41047718e-01 3.28894937e-01 -7.91031776e-02 -1.14337285e+02] [-3.28334143e-01 9.44342002e-01 2.03684361e-02 1.24891187e+01] [ 8.13995287e-02 6.80460369e-03 9.96658324e-01 -7.11006352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31534707 meters 0.0367510609302954 Centerline is valid? [True, True] Translation: X:-114.39, Y:12.50, Z:-7.12 [[ 9.41536730e-01 3.27520702e-01 -7.89859232e-02 -1.14394740e+02] [-3.26954827e-01 9.44820578e-01 2.03621086e-02 1.25039211e+01] [ 8.12965377e-02 6.65315574e-03 9.96667752e-01 -7.12031229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37534707 meters 0.033242083262678704 Centerline is valid? [True, True] Translation: X:-114.45, Y:12.51, Z:-7.12 [[ 9.41024178e-01 3.28755415e-01 -7.99585777e-02 -1.14453655e+02] [-3.28179467e-01 9.44390341e-01 2.06184973e-02 1.25089331e+01] [ 8.22905510e-02 6.83825887e-03 9.96584920e-01 -7.11906917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43534707 meters 0.034933878761132 Centerline is valid? [True, True] Translation: X:-114.51, Y:12.53, Z:-7.13 [[ 9.41101468e-01 3.28641536e-01 -7.95158390e-02 -1.14509475e+02] [-3.28070329e-01 9.44430423e-01 2.05191379e-02 1.25258009e+01] [ 8.18406184e-02 6.77619671e-03 9.96622394e-01 -7.12837640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49534707 meters 0.034578191120277386 Centerline is valid? [True, True] Translation: X:-114.57, Y:12.54, Z:-7.13 [[ 9.40983691e-01 3.28943744e-01 -7.96599475e-02 -1.14565563e+02] [-3.28368930e-01 9.44325145e-01 2.05880241e-02 1.25379543e+01] [ 8.19971932e-02 6.78485684e-03 9.96609465e-01 -7.13409288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55534707 meters 0.03385692416251198 Centerline is valid? [True, True] Translation: X:-114.62, Y:12.55, Z:-7.14 [[ 9.40792141e-01 3.29393405e-01 -8.00632947e-02 -1.14622709e+02] [-3.28811506e-01 9.44168094e-01 2.07268910e-02 1.25498169e+01] [ 8.24205095e-02 6.82603636e-03 9.96574265e-01 -7.13917036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61534707 meters 0.032756897836189694 Centerline is valid? [True, True] Translation: X:-114.68, Y:12.56, Z:-7.15 [[ 9.40598724e-01 3.30003385e-01 -7.98235962e-02 -1.14679714e+02] [-3.29424287e-01 9.43955069e-01 2.06994441e-02 1.25614345e+01] [ 8.21807748e-02 6.82596053e-03 9.96594063e-01 -7.14681634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67534707 meters 0.03708218000038701 Centerline is valid? [True, True] Translation: X:-114.73, Y:12.59, Z:-7.15 [[ 9.40489847e-01 3.30363039e-01 -7.96185321e-02 -1.14733036e+02] [-3.29785293e-01 9.43829400e-01 2.06814819e-02 1.25861141e+01] [ 8.19787086e-02 6.80629722e-03 9.96610840e-01 -7.15260670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73534707 meters 0.0313669011655414 Centerline is valid? [True, True] Translation: X:-114.79, Y:12.59, Z:-7.15 [[ 9.40389551e-01 3.30453064e-01 -8.04255245e-02 -1.14792442e+02] [-3.29860829e-01 9.43797576e-01 2.09277349e-02 1.25878738e+01] [ 8.28210492e-02 6.84900696e-03 9.96540900e-01 -7.15238264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79534707 meters 0.04341661142501154 Centerline is valid? [True, True] Translation: X:-114.84, Y:12.63, Z:-7.17 [[ 9.40218274e-01 3.31389853e-01 -7.85516593e-02 -1.14841093e+02] [-3.30825314e-01 9.43469868e-01 2.04748643e-02 1.26293825e+01] [ 8.08962859e-02 6.73603583e-03 9.96699763e-01 -7.16623969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85534707 meters 0.03777805906262393 Centerline is valid? [True, True] Translation: X:-114.90, Y:12.64, Z:-7.17 [[ 9.39429870e-01 3.33375174e-01 -7.95770894e-02 -1.14900233e+02] [-3.32800305e-01 9.42768495e-01 2.07731115e-02 1.26353657e+01] [ 8.19480125e-02 6.96839820e-03 9.96612244e-01 -7.16815563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91534707 meters 0.037448787911307464 Centerline is valid? [True, True] Translation: X:-114.96, Y:12.65, Z:-7.17 [[ 9.39473915e-01 3.33174848e-01 -7.98954617e-02 -1.14956296e+02] [-3.32593764e-01 9.42839306e-01 2.08669732e-02 1.26517155e+01] [ 8.22809323e-02 6.96875541e-03 9.96584811e-01 -7.17498170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97534707 meters 0.03337967249040523 Centerline is valid? [True, True] Translation: X:-115.02, Y:12.66, Z:-7.18 [[ 9.38706789e-01 3.35143315e-01 -8.06754093e-02 -1.15016543e+02] [-3.34555945e-01 9.42139742e-01 2.10956396e-02 1.26594809e+01] [ 8.30775719e-02 7.18781772e-03 9.96517161e-01 -7.17778803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03534707 meters 0.03502243471924901 Centerline is valid? [True, True] Translation: X:-115.07, Y:12.68, Z:-7.18 [[ 9.39496145e-01 3.32890998e-01 -8.08119855e-02 -1.15071741e+02] [-3.32292721e-01 9.42939384e-01 2.11392133e-02 1.26807492e+01] [ 8.32378576e-02 6.99302517e-03 9.96505171e-01 -7.18374543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09534707 meters 0.037585845631881755 Centerline is valid? [True, True] Translation: X:-115.13, Y:12.71, Z:-7.19 [[ 9.40275570e-01 3.31289031e-01 -7.82906796e-02 -1.15125893e+02] [-3.30721470e-01 9.43506028e-01 2.04862143e-02 1.27051679e+01] [ 8.06545862e-02 6.62972179e-03 9.96720063e-01 -7.19355276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15534707 meters 0.03295048878873531 Centerline is valid? [True, True] Translation: X:-115.18, Y:12.71, Z:-7.19 [[ 9.39783544e-01 3.32585913e-01 -7.86987961e-02 -1.15184624e+02] [-3.32016085e-01 9.43048686e-01 2.06033036e-02 1.27116267e+01] [ 8.10691648e-02 6.76662049e-03 9.96685509e-01 -7.19431418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21534706999999 meters 0.035707550281527674 Centerline is valid? [True, True] Translation: X:-115.24, Y:12.74, Z:-7.20 [[ 9.39956706e-01 3.31888027e-01 -7.95721614e-02 -1.15238524e+02] [-3.31300743e-01 9.43294600e-01 2.08594135e-02 1.27356482e+01] [ 8.19829797e-02 6.75537058e-03 9.96610835e-01 -7.20140260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27534707 meters 0.03516425859854573 Centerline is valid? [True, True] Translation: X:-115.29, Y:12.75, Z:-7.21 [[ 9.40749520e-01 3.29617519e-01 -7.96406386e-02 -1.15294897e+02] [-3.29019109e-01 9.44091905e-01 2.09021696e-02 1.27549895e+01] [ 8.20778035e-02 6.53958593e-03 9.96604469e-01 -7.20797810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33534707 meters 0.03480402514717478 Centerline is valid? [True, True] Translation: X:-115.35, Y:12.77, Z:-7.21 [[ 9.40484856e-01 3.30638618e-01 -7.85260513e-02 -1.15351120e+02] [-3.30059642e-01 9.43734870e-01 2.06186186e-02 1.27736278e+01] [ 8.09250844e-02 6.52678181e-03 9.96698817e-01 -7.21043872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39534707 meters 0.0329911294837373 Centerline is valid? [True, True] Translation: X:-115.41, Y:12.79, Z:-7.21 [[ 9.39748824e-01 3.32791374e-01 -7.82435208e-02 -1.15407539e+02] [-3.32221927e-01 9.42976930e-01 2.05694085e-02 1.27891603e+01] [ 8.06271567e-02 6.66413576e-03 9.96722053e-01 -7.21471473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45534707 meters 0.04443151078728605 Centerline is valid? [True, True] Translation: X:-115.46, Y:12.84, Z:-7.23 [[ 9.39341777e-01 3.33873613e-01 -7.85202969e-02 -1.15455880e+02] [-3.33302920e-01 9.42593538e-01 2.06539357e-02 1.28351813e+01] [ 8.09085287e-02 6.76993955e-03 9.96698539e-01 -7.22640944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51534707 meters 0.03238324542310679 Centerline is valid? [True, True] Translation: X:-115.52, Y:12.83, Z:-7.23 [[ 9.39876023e-01 3.31872475e-01 -8.05836342e-02 -1.15517776e+02] [-3.31261768e-01 9.43300141e-01 2.12246564e-02 1.28311768e+01] [ 8.30584328e-02 6.74573147e-03 9.96521847e-01 -7.22860588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57534707 meters 0.039976539056949374 Centerline is valid? [True, True] Translation: X:-115.57, Y:12.87, Z:-7.24 [[ 9.41013416e-01 3.29024130e-01 -7.89738685e-02 -1.15569690e+02] [-3.28427117e-01 9.44300113e-01 2.08068803e-02 1.28666777e+01] [ 8.14209986e-02 6.35760645e-03 9.96659522e-01 -7.23768662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63534707 meters 0.03641034934359772 Centerline is valid? [True, True] Translation: X:-115.63, Y:12.88, Z:-7.24 [[ 9.41891789e-01 3.26788306e-01 -7.77769956e-02 -1.15627287e+02] [-3.26201282e-01 9.45078099e-01 2.04965755e-02 1.28783853e+01] [ 8.02033764e-02 6.06539952e-03 9.96760066e-01 -7.24049000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69534707 meters 0.036084247982827326 Centerline is valid? [True, True] Translation: X:-115.68, Y:12.90, Z:-7.25 [[ 9.41982379e-01 3.26608377e-01 -7.74349112e-02 -1.15683291e+02] [-3.26024937e-01 9.45140638e-01 2.04184935e-02 1.28961517e+01] [ 7.98557324e-02 6.01185095e-03 9.96788302e-01 -7.24674089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75534707 meters 0.03555001694866908 Centerline is valid? [True, True] Translation: X:-115.74, Y:12.91, Z:-7.25 [[ 9.41185121e-01 3.28496708e-01 -7.91231979e-02 -1.15739629e+02] [-3.27892166e-01 9.44484208e-01 2.08879948e-02 1.29140022e+01] [ 8.15922484e-02 6.28440678e-03 9.96645981e-01 -7.25107453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81534707 meters 0.03548863085624169 Centerline is valid? [True, True] Translation: X:-115.80, Y:12.93, Z:-7.26 [[ 9.41591022e-01 3.27547805e-01 -7.82226478e-02 -1.15795739e+02] [-3.26952983e-01 9.44814769e-01 2.06591195e-02 1.29325068e+01] [ 8.06727622e-02 6.12268657e-03 9.96721836e-01 -7.25611631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87534707 meters 0.03318705079461993 Centerline is valid? [True, True] Translation: X:-115.85, Y:12.95, Z:-7.26 [[ 9.42060769e-01 3.26247102e-01 -7.80021518e-02 -1.15852082e+02] [-3.25649110e-01 9.45265673e-01 2.06268079e-02 1.29451147e+01] [ 8.04621928e-02 5.96962479e-03 9.96739785e-01 -7.26033711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93534707 meters 0.028756552647305887 Centerline is valid? [True, True] Translation: X:-115.91, Y:12.95, Z:-7.27 [[ 9.42921884e-01 3.23761889e-01 -7.79522879e-02 -1.15910514e+02] [-3.23155455e-01 9.46121154e-01 2.06231515e-02 1.29522553e+01] [ 8.04292990e-02 5.74468619e-03 9.96743762e-01 -7.26518888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99534707 meters 0.02976369055802394 Centerline is valid? [True, True] Translation: X:-115.97, Y:12.97, Z:-7.27 [[ 9.43178514e-01 3.22761303e-01 -7.89900782e-02 -1.15965958e+02] [-3.22134312e-01 9.46463077e-01 2.09076181e-02 1.29710246e+01] [ 8.15093625e-02 5.72579830e-03 9.96656129e-01 -7.27186997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05534707 meters 0.031757238215732064 Centerline is valid? [True, True] Translation: X:-116.02, Y:12.99, Z:-7.28 [[ 9.43584969e-01 3.21669535e-01 -7.85882779e-02 -1.16020783e+02] [-3.21042545e-01 9.46835604e-01 2.08332474e-02 1.29914632e+01] [ 8.11116005e-02 5.57224162e-03 9.96689449e-01 -7.28080469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11534707 meters 0.030174725893922276 Centerline is valid? [True, True] Translation: X:-116.08, Y:13.00, Z:-7.28 [[ 9.43488417e-01 3.21720669e-01 -7.95324962e-02 -1.16078307e+02] [-3.21076331e-01 9.46817967e-01 2.11122532e-02 1.30015275e+01] [ 8.20950446e-02 5.61683569e-03 9.96608677e-01 -7.28311323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17534707 meters 0.02921777621165051 Centerline is valid? [True, True] Translation: X:-116.14, Y:13.01, Z:-7.29 [[ 9.44647275e-01 3.18419224e-01 -7.90615170e-02 -1.16136488e+02] [-3.17770207e-01 9.47935244e-01 2.09968771e-02 1.30139863e+01] [ 8.16310077e-02 5.28875183e-03 9.96648588e-01 -7.28987556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23534707 meters 0.02578959515703694 Centerline is valid? [True, True] Translation: X:-116.20, Y:13.02, Z:-7.29 [[ 9.46818177e-01 3.11650380e-01 -8.00586051e-02 -1.16196647e+02] [-3.10960448e-01 9.50184918e-01 2.12655036e-02 1.30219644e+01] [ 8.26978814e-02 4.76049438e-03 9.96563294e-01 -7.29432989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29534707 meters 0.02312323538187821 Centerline is valid? [True, True] Translation: X:-116.26, Y:13.03, Z:-7.30 [[ 9.49293769e-01 3.04136965e-01 -7.96369709e-02 -1.16256423e+02] [-3.03427664e-01 9.52619576e-01 2.11564573e-02 1.30290102e+01] [ 8.22981982e-02 4.08036699e-03 9.96599397e-01 -7.29935587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35534707 meters 0.023162448697670285 Centerline is valid? [True, True] Translation: X:-116.31, Y:13.04, Z:-7.30 [[ 9.50788536e-01 2.99532599e-01 -7.92551712e-02 -1.16314067e+02] [-2.98813805e-01 9.54079047e-01 2.10590240e-02 1.30411925e+01] [ 8.19235624e-02 3.65986065e-03 9.96631896e-01 -7.30483741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41534707 meters 0.022386209703786217 Centerline is valid? [True, True] Translation: X:-116.37, Y:13.06, Z:-7.31 [[ 9.51128931e-01 2.98517201e-01 -7.90014963e-02 -1.16371277e+02] [-2.97798543e-01 9.54397654e-01 2.10034796e-02 1.30551743e+01] [ 8.16687427e-02 3.54951346e-03 9.96653208e-01 -7.30775704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47534707 meters 0.02109450511920323 Centerline is valid? [True, True] Translation: X:-116.43, Y:13.07, Z:-7.31 [[ 9.51201599e-01 2.99018442e-01 -7.61806414e-02 -1.16427219e+02] [-2.98349689e-01 9.54241141e-01 2.02807259e-02 1.30711906e+01] [ 7.87590133e-02 3.43741177e-03 9.96887758e-01 -7.30681060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53534707 meters 0.027743047296342742 Centerline is valid? [True, True] Translation: X:-116.48, Y:13.11, Z:-7.32 [[ 9.48374783e-01 3.07245425e-01 -7.86480717e-02 -1.16479004e+02] [-3.06559431e-01 9.51620870e-01 2.09531515e-02 1.31067947e+01] [ 8.12809064e-02 4.23886759e-03 9.96682219e-01 -7.31678346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59534707 meters 0.027737590924312654 Centerline is valid? [True, True] Translation: X:-116.53, Y:13.13, Z:-7.32 [[ 9.46842466e-01 3.11761206e-01 -7.93365908e-02 -1.16533812e+02] [-3.11078583e-01 9.50149043e-01 2.11402913e-02 1.31284923e+01] [ 8.19723085e-02 4.66338874e-03 9.96623697e-01 -7.32122571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65534707 meters 0.03077023549981115 Centerline is valid? [True, True] Translation: X:-116.59, Y:13.15, Z:-7.33 [[ 9.44065942e-01 3.19992914e-01 -7.96494364e-02 -1.16588670e+02] [-3.19333440e-01 9.47404589e-01 2.12296698e-02 1.31531469e+01] [ 8.22535855e-02 5.39252025e-03 9.96596843e-01 -7.32643322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71534706999999 meters 0.03106398228786329 Centerline is valid? [True, True] Translation: X:-116.65, Y:13.17, Z:-7.33 [[ 9.44268652e-01 3.19634274e-01 -7.86806427e-02 -1.16645028e+02] [-3.18988796e-01 9.47526240e-01 2.09802651e-02 1.31709597e+01] [ 8.12579853e-02 5.28723682e-03 9.96679078e-01 -7.33116844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77534707 meters 0.030916721002900965 Centerline is valid? [True, True] Translation: X:-116.70, Y:13.19, Z:-7.34 [[ 9.43783760e-01 3.20787501e-01 -7.97972025e-02 -1.16701362e+02] [-3.20125009e-01 9.47135609e-01 2.13100333e-02 1.31866390e+01] [ 8.24147643e-02 5.43301677e-03 9.96583308e-01 -7.33755589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83534707 meters 0.02816537450569604 Centerline is valid? [True, True] Translation: X:-116.76, Y:13.20, Z:-7.34 [[ 9.44731383e-01 3.17612133e-01 -8.12720522e-02 -1.16759461e+02] [-3.16910884e-01 9.48206321e-01 2.17316358e-02 1.31971220e+01] [ 8.39649048e-02 5.22543957e-03 9.96455011e-01 -7.34031087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89534707 meters 0.028739489121282148 Centerline is valid? [True, True] Translation: X:-116.82, Y:13.21, Z:-7.35 [[ 9.47086769e-01 3.10933282e-01 -7.96689799e-02 -1.16817111e+02] [-3.10235182e-01 9.50420934e-01 2.13114813e-02 1.32119393e+01] [ 8.23455152e-02 4.53229853e-03 9.96593535e-01 -7.34666332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95534707 meters 0.02694164074273894 Centerline is valid? [True, True] Translation: X:-116.88, Y:13.22, Z:-7.35 [[ 9.48720409e-01 3.05644348e-01 -8.06914959e-02 -1.16875576e+02] [-3.04908872e-01 9.52136827e-01 2.15880180e-02 1.32249087e+01] [ 8.34276005e-02 4.12255972e-03 9.96505314e-01 -7.34864706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01534707 meters 0.023808811542858906 Centerline is valid? [True, True] Translation: X:-116.93, Y:13.23, Z:-7.35 [[ 9.50048648e-01 3.01579756e-01 -8.03568186e-02 -1.16933864e+02] [-3.00835459e-01 9.53433599e-01 2.15034742e-02 1.32325207e+01] [ 8.30999033e-02 3.74483385e-03 9.96534185e-01 -7.34857046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07534707 meters 0.02344318250423681 Centerline is valid? [True, True] Translation: X:-116.99, Y:13.25, Z:-7.35 [[ 9.50293386e-01 3.00623152e-01 -8.10444450e-02 -1.16990477e+02] [-2.99861232e-01 9.53735916e-01 2.17035405e-02 1.32473931e+01] [ 8.38195848e-02 3.67735617e-03 9.96474161e-01 -7.35235687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13534707 meters 0.02365156935676196 Centerline is valid? [True, True] Translation: X:-117.05, Y:13.27, Z:-7.35 [[ 9.50780829e-01 2.99294268e-01 -8.02418614e-02 -1.17046759e+02] [-2.98539926e-01 9.54154463e-01 2.15214749e-02 1.32660832e+01] [ 8.30043842e-02 3.49319367e-03 9.96543060e-01 -7.35221786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19534707 meters 0.02456897778729488 Centerline is valid? [True, True] Translation: X:-117.10, Y:13.29, Z:-7.36 [[ 9.50470976e-01 3.00439421e-01 -7.96308895e-02 -1.17101534e+02] [-2.99697837e-01 9.53794350e-01 2.13902763e-02 1.32868864e+01] [ 8.23779748e-02 3.53436855e-03 9.96594891e-01 -7.35683141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25534707 meters 0.023517572905377718 Centerline is valid? [True, True] Translation: X:-117.16, Y:13.30, Z:-7.36 [[ 9.49623631e-01 3.02633033e-01 -8.14138012e-02 -1.17158203e+02] [-3.01863342e-01 9.53099658e-01 2.18989517e-02 1.33000604e+01] [ 8.42228122e-02 3.78008008e-03 9.96439777e-01 -7.35691582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31534707 meters 0.024482859560920146 Centerline is valid? [True, True] Translation: X:-117.21, Y:13.32, Z:-7.36 [[ 9.49991588e-01 3.01917151e-01 -7.97622544e-02 -1.17213632e+02] [-3.01174226e-01 9.53327288e-01 2.14747966e-02 1.33216544e+01] [ 8.25231431e-02 3.62145906e-03 9.96582569e-01 -7.35725352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37534707 meters 0.0246228890815843 Centerline is valid? [True, True] Translation: X:-117.27, Y:13.34, Z:-7.36 [[ 9.49682179e-01 3.02506779e-01 -8.11998016e-02 -1.17269761e+02] [-3.01735965e-01 9.53140031e-01 2.18972474e-02 1.33392752e+01] [ 8.40188472e-02 3.70547481e-03 9.96457276e-01 -7.35539332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43534707 meters 0.025467220481960803 Centerline is valid? [True, True] Translation: X:-117.33, Y:13.36, Z:-7.35 [[ 9.49626313e-01 3.02621209e-01 -8.14264726e-02 -1.17326091e+02] [-3.01843563e-01 9.53103755e-01 2.19930942e-02 1.33556559e+01] [ 8.42634535e-02 3.69283566e-03 9.96436668e-01 -7.35487318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49534707 meters 0.02453652932165158 Centerline is valid? [True, True] Translation: X:-117.38, Y:13.37, Z:-7.35 [[ 9.49260899e-01 3.03513920e-01 -8.23592501e-02 -1.17383459e+02] [-3.02718496e-01 9.52819507e-01 2.22822810e-02 1.33718481e+01] [ 8.52364825e-02 3.77997020e-03 9.96353579e-01 -7.35342632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55534707 meters 0.024511870783062783 Centerline is valid? [True, True] Translation: X:-117.44, Y:13.39, Z:-7.35 [[ 9.49061579e-01 3.03926306e-01 -8.31319389e-02 -1.17439079e+02] [-3.03114560e-01 9.52687881e-01 2.25247437e-02 1.33890212e+01] [ 8.60446529e-02 3.82113227e-03 9.96283954e-01 -7.35493273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61534707 meters 0.025499554272010786 Centerline is valid? [True, True] Translation: X:-117.50, Y:13.41, Z:-7.35 [[ 9.48668856e-01 3.05022386e-01 -8.35987244e-02 -1.17495264e+02] [-3.04202352e-01 9.52337173e-01 2.26900581e-02 1.34080048e+01] [ 8.65351485e-02 3.90557713e-03 9.96241143e-01 -7.35413141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67534707 meters 0.02422245687164766 Centerline is valid? [True, True] Translation: X:-117.55, Y:13.42, Z:-7.35 [[ 9.48357257e-01 3.05645667e-01 -8.48483353e-02 -1.17552430e+02] [-3.04800204e-01 9.52136978e-01 2.30653497e-02 1.34214055e+01] [ 8.78370617e-02 3.98759815e-03 9.96126874e-01 -7.35060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73534707 meters 0.023212384297426898 Centerline is valid? [True, True] Translation: X:-117.61, Y:13.44, Z:-7.35 [[ 9.48462984e-01 3.05179757e-01 -8.53421630e-02 -1.17608184e+02] [-3.04319670e-01 9.52286626e-01 2.32318801e-02 1.34365676e+01] [ 8.83601000e-02 3.93672052e-03 9.96080817e-01 -7.35069569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79534707 meters 0.022111097411325657 Centerline is valid? [True, True] Translation: X:-117.67, Y:13.45, Z:-7.35 [[ 9.48497143e-01 3.05159640e-01 -8.50338966e-02 -1.17665493e+02] [-3.04303840e-01 9.52293221e-01 2.31687971e-02 1.34506852e+01] [ 8.80473851e-02 3.90060341e-03 9.96108650e-01 -7.34896254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85534707 meters 0.02261167039081238 Centerline is valid? [True, True] Translation: X:-117.72, Y:13.47, Z:-7.35 [[ 9.49415853e-01 3.02731332e-01 -8.34462649e-02 -1.17721053e+02] [-3.01896350e-01 9.53069178e-01 2.27538197e-02 1.34717168e+01] [ 8.64183572e-02 3.58928561e-03 9.96252470e-01 -7.35080531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91534707 meters 0.022527387340738943 Centerline is valid? [True, True] Translation: X:-117.78, Y:13.49, Z:-7.35 [[ 9.49020563e-01 3.03546320e-01 -8.49682443e-02 -1.17777016e+02] [-3.02682512e-01 9.52809434e-01 2.31835994e-02 1.34911652e+01] [ 8.79958411e-02 3.71668904e-03 9.96113908e-01 -7.35355174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97534707 meters 0.02147678798602631 Centerline is valid? [True, True] Translation: X:-117.83, Y:13.51, Z:-7.35 [[ 9.48829525e-01 3.04397825e-01 -8.40505583e-02 -1.17832112e+02] [-3.03553355e-01 9.52537705e-01 2.29626060e-02 1.35091556e+01] [ 8.70510932e-02 3.72623043e-03 9.96196879e-01 -7.35216326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03534707 meters 0.021811148550851502 Centerline is valid? [True, True] Translation: X:-117.89, Y:13.53, Z:-7.35 [[ 9.48334969e-01 3.06099813e-01 -8.34487330e-02 -1.17886866e+02] [-3.05272271e-01 9.51991697e-01 2.28177297e-02 1.35318066e+01] [ 8.64270037e-02 3.83573329e-03 9.96250802e-01 -7.35458561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09534707 meters 0.023555906194374008 Centerline is valid? [True, True] Translation: X:-117.94, Y:13.56, Z:-7.36 [[ 9.48066072e-01 3.07012524e-01 -8.31506664e-02 -1.17939515e+02] [-3.06190948e-01 9.51697619e-01 2.27759920e-02 1.35581342e+01] [ 8.61268060e-02 3.86683614e-03 9.96276679e-01 -7.35865734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15534707 meters 0.023218189418951388 Centerline is valid? [True, True] Translation: X:-117.99, Y:13.58, Z:-7.36 [[ 9.47936776e-01 3.07844031e-01 -8.15347835e-02 -1.17992821e+02] [-3.07054077e-01 9.51429126e-01 2.23699011e-02 1.35788198e+01] [ 8.44610083e-02 3.83033581e-03 9.96419423e-01 -7.36106853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21534706999999 meters 0.023422439812249948 Centerline is valid? [True, True] Translation: X:-118.05, Y:13.60, Z:-7.36 [[ 9.47971917e-01 3.08300449e-01 -7.93730317e-02 -1.18047505e+02] [-3.07551782e-01 9.51281653e-01 2.17971758e-02 1.36031464e+01] [ 8.22261879e-02 3.74820686e-03 9.96606645e-01 -7.36389759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27534707 meters 0.026033174085279668 Centerline is valid? [True, True] Translation: X:-118.10, Y:13.63, Z:-7.37 [[ 9.48409318e-01 3.07013802e-01 -7.91346366e-02 -1.18099801e+02] [-3.06262322e-01 9.51698281e-01 2.17662873e-02 1.36347777e+01] [ 8.19948482e-02 3.59260790e-03 9.96626278e-01 -7.36739297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33534707 meters 0.023788919518039953 Centerline is valid? [True, True] Translation: X:-118.15, Y:13.65, Z:-7.37 [[ 9.49448112e-01 3.04046973e-01 -7.81263084e-02 -1.18154736e+02] [-3.03302196e-01 9.52651443e-01 2.15175915e-02 1.36540017e+01] [ 8.09694990e-02 3.26604427e-03 9.96711229e-01 -7.36856157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39534707 meters 0.02034762239215409 Centerline is valid? [True, True] Translation: X:-118.21, Y:13.67, Z:-7.37 [[ 9.50374815e-01 3.01052502e-01 -7.84544543e-02 -1.18210626e+02] [-3.00290483e-01 9.53602802e-01 2.16176124e-02 1.36692817e+01] [ 8.13224238e-02 3.01429160e-03 9.96683288e-01 -7.36858391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45534707 meters 0.020939325924450324 Centerline is valid? [True, True] Translation: X:-118.26, Y:13.69, Z:-7.37 [[ 9.51010695e-01 2.98995576e-01 -7.86149028e-02 -1.18264487e+02] [-2.98222322e-01 9.54250297e-01 2.16752725e-02 1.36932511e+01] [ 8.14991049e-02 2.83130291e-03 9.96669393e-01 -7.37109858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51534707 meters 0.01926696157305251 Centerline is valid? [True, True] Translation: X:-118.32, Y:13.71, Z:-7.37 [[ 9.52828502e-01 2.93364377e-01 -7.78150918e-02 -1.18319587e+02] [-2.92586660e-01 9.55997914e-01 2.14717164e-02 1.37131763e+01] [ 8.06901022e-02 2.30879445e-03 9.96736563e-01 -7.37261382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57534707 meters 0.018436189114676704 Centerline is valid? [True, True] Translation: X:-118.38, Y:13.73, Z:-7.38 [[ 9.53473593e-01 2.91479760e-01 -7.69912784e-02 -1.18375327e+02] [-2.90711214e-01 9.56574662e-01 2.12580804e-02 1.37329613e+01] [ 7.98442063e-02 2.11320973e-03 9.96805115e-01 -7.37606295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63534707 meters 0.01720770462963038 Centerline is valid? [True, True] Translation: X:-118.43, Y:13.75, Z:-7.37 [[ 9.54377329e-01 2.88204267e-01 -7.81166737e-02 -1.18430021e+02] [-2.87399452e-01 9.57567196e-01 2.16014107e-02 1.37514575e+01] [ 8.10275829e-02 1.83479262e-03 9.96710171e-01 -7.37393106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69534707 meters 0.017283465645423997 Centerline is valid? [True, True] Translation: X:-118.48, Y:13.77, Z:-7.38 [[ 9.55352049e-01 2.85709383e-01 -7.53167369e-02 -1.18484438e+02] [-2.84951682e-01 9.58315069e-01 2.08510577e-02 1.37733418e+01] [ 7.81345067e-02 1.54153020e-03 9.96941634e-01 -7.38094076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75534707 meters 0.017498037437336272 Centerline is valid? [True, True] Translation: X:-118.54, Y:13.80, Z:-7.38 [[ 9.56110467e-01 2.83378831e-01 -7.44930420e-02 -1.18539393e+02] [-2.82627849e-01 9.59007165e-01 2.06580925e-02 1.37966190e+01] [ 7.72934271e-02 1.30238979e-03 9.97007538e-01 -7.37855545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81534707 meters 0.016908788580170586 Centerline is valid? [True, True] Translation: X:-118.59, Y:13.82, Z:-7.38 [[ 9.56324720e-01 2.82902454e-01 -7.35474698e-02 -1.18593482e+02] [-2.82166774e-01 9.59147911e-01 2.04254064e-02 1.38164740e+01] [ 7.63212996e-02 1.21933125e-03 9.97082530e-01 -7.38032649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87534707 meters 0.017207461703208263 Centerline is valid? [True, True] Translation: X:-118.65, Y:13.84, Z:-7.38 [[ 9.56566760e-01 2.82730652e-01 -7.10169809e-02 -1.18647482e+02] [-2.82043270e-01 9.59198653e-01 1.97367361e-02 1.38403616e+01] [ 7.36995727e-02 1.15035582e-03 9.97279825e-01 -7.38409450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93534707 meters 0.01689354147820253 Centerline is valid? [True, True] Translation: X:-118.70, Y:13.86, Z:-7.39 [[ 9.57224736e-01 2.80503926e-01 -7.09813541e-02 -1.18702505e+02] [-2.79808571e-01 9.59852413e-01 1.97613022e-02 1.38617621e+01] [ 7.36747468e-02 9.45183954e-04 9.97281875e-01 -7.38573745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99534707 meters 0.027867902262066993 Centerline is valid? [True, True] Translation: X:-118.70, Y:14.09, Z:-7.43 [[ 9.41682709e-01 3.30540526e-01 -6.30605727e-02 -1.18698919e+02] [-3.30100019e-01 9.43782190e-01 1.75828063e-02 1.40876157e+01] [ 6.53272755e-02 4.25887161e-03 9.97854804e-01 -7.42826349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05534707 meters 0.026782286546160196 Centerline is valid? [True, True] Translation: X:-118.76, Y:14.10, Z:-7.43 [[ 9.43665541e-01 3.25034666e-01 -6.20307449e-02 -1.18757680e+02] [-3.24596596e-01 9.45694411e-01 1.72953731e-02 1.41049591e+01] [ 6.42837246e-02 3.81392107e-03 9.97924374e-01 -7.42923058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11534707 meters 0.027165229652318337 Centerline is valid? [True, True] Translation: X:-118.81, Y:14.13, Z:-7.43 [[ 9.46593497e-01 3.16056149e-01 -6.37907692e-02 -1.18814687e+02] [-3.15572642e-01 9.48734759e-01 1.77838183e-02 1.41256323e+01] [ 6.61412051e-02 3.29657486e-03 9.97804827e-01 -7.43012478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17534707 meters 0.02526718335691998 Centerline is valid? [True, True] Translation: X:-118.87, Y:14.14, Z:-7.43 [[ 9.48425326e-01 3.10726705e-01 -6.27559930e-02 -1.18874228e+02] [-3.10247243e-01 9.50494938e-01 1.74934405e-02 1.41399479e+01] [ 6.50849328e-02 2.87865178e-03 9.97875576e-01 -7.43112129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23534707 meters 0.02177770758542142 Centerline is valid? [True, True] Translation: X:-118.93, Y:14.15, Z:-7.44 [[ 9.49292687e-01 3.08550572e-01 -6.03319041e-02 -1.18934446e+02] [-3.08103105e-01 9.51204320e-01 1.68171788e-02 1.41502068e+01] [ 6.25769180e-02 2.62402215e-03 9.98036695e-01 -7.43741912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29534707 meters 0.02124716985396878 Centerline is valid? [True, True] Translation: X:-118.99, Y:14.17, Z:-7.44 [[ 9.50545981e-01 3.04593149e-01 -6.07071040e-02 -1.18993637e+02] [-3.04133679e-01 9.52479522e-01 1.68957257e-02 1.41677857e+01] [ 6.29685957e-02 2.40291077e-03 9.98012616e-01 -7.43938959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35534707 meters 0.021522485879906086 Centerline is valid? [True, True] Translation: X:-119.05, Y:14.19, Z:-7.44 [[ 9.51920242e-01 2.99881462e-01 -6.26016042e-02 -1.19052796e+02] [-2.99384523e-01 9.53973972e-01 1.73944650e-02 1.41884732e+01] [ 6.49365786e-02 2.18380814e-03 9.97887003e-01 -7.43829683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41534707 meters 0.020835733445912684 Centerline is valid? [True, True] Translation: X:-119.11, Y:14.21, Z:-7.44 [[ 9.51765874e-01 3.00665740e-01 -6.11705340e-02 -1.19111289e+02] [-3.00193350e-01 9.53727060e-01 1.69896503e-02 1.42062821e+01] [ 6.34481993e-02 2.19281813e-03 9.97982724e-01 -7.43984264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47534707 meters 0.02173086433557 Centerline is valid? [True, True] Translation: X:-119.17, Y:14.23, Z:-7.44 [[ 9.51603549e-01 3.01039147e-01 -6.18556122e-02 -1.19169905e+02] [-3.00558481e-01 9.53609090e-01 1.71552750e-02 1.42281693e+01] [ 6.41504834e-02 2.26620825e-03 9.97937663e-01 -7.43841533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53534707 meters 0.01947566684645756 Centerline is valid? [True, True] Translation: X:-119.23, Y:14.24, Z:-7.44 [[ 9.51850277e-01 3.00800142e-01 -5.91635490e-02 -1.19229230e+02] [-3.00361525e-01 9.53684717e-01 1.63833585e-02 1.42424643e+01] [ 6.13514891e-02 2.17594947e-03 9.98113851e-01 -7.44038752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59534707 meters 0.018338093407408 Centerline is valid? [True, True] Translation: X:-119.29, Y:14.26, Z:-7.44 [[ 9.53907096e-01 2.93855634e-01 -6.09107406e-02 -1.19288146e+02] [-2.93377647e-01 9.55848125e-01 1.68498714e-02 1.42580783e+01] [ 6.31728468e-02 1.79663788e-03 9.98000984e-01 -7.44287996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65534707 meters 0.016643895785514513 Centerline is valid? [True, True] Translation: X:-119.35, Y:14.27, Z:-7.44 [[ 9.57818666e-01 2.80727523e-01 -6.14447771e-02 -1.19348067e+02] [-2.80214166e-01 9.59787047e-01 1.69954558e-02 1.42711047e+01] [ 6.37449934e-02 9.39132122e-04 9.97965778e-01 -7.44218606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71534706999999 meters 0.01600360079046928 Centerline is valid? [True, True] Translation: X:-119.41, Y:14.28, Z:-7.44 [[ 9.62232829e-01 2.64981878e-01 -6.23906076e-02 -1.19410170e+02] [-2.64419499e-01 9.64253386e-01 1.72550076e-02 1.42816251e+01] [ 6.47326190e-02 -1.06041536e-04 9.97902639e-01 -7.44135155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77534707 meters 0.015364615315630697 Centerline is valid? [True, True] Translation: X:-119.47, Y:14.30, Z:-7.45 [[ 9.64791546e-01 2.55134991e-01 -6.39015646e-02 -1.19470464e+02] [-2.54523935e-01 9.66905130e-01 1.76645255e-02 1.42967370e+01] [ 6.62935892e-02 -7.78107125e-04 9.97799857e-01 -7.44820385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83534707 meters 0.015053780863388018 Centerline is valid? [True, True] Translation: X:-119.53, Y:14.32, Z:-7.45 [[ 9.64542645e-01 2.56113141e-01 -6.37459443e-02 -1.19528600e+02] [-2.55507730e-01 9.66646557e-01 1.76134265e-02 1.43213042e+01] [ 6.61308276e-02 -7.01319435e-04 9.97810714e-01 -7.45104052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89534707 meters 0.01502859065527878 Centerline is valid? [True, True] Translation: X:-119.59, Y:14.35, Z:-7.45 [[ 9.64692475e-01 2.55589835e-01 -6.35788164e-02 -1.19585958e+02] [-2.54986935e-01 9.66785036e-01 1.75600938e-02 1.43453648e+01] [ 6.59552298e-02 -7.28322751e-04 9.97822317e-01 -7.45233154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95534707 meters 0.015223388803798837 Centerline is valid? [True, True] Translation: X:-119.64, Y:14.37, Z:-7.45 [[ 9.64798878e-01 2.55159906e-01 -6.36910322e-02 -1.19644871e+02] [-2.54555714e-01 9.66898591e-01 1.75642681e-02 1.43681617e+01] [ 6.60644663e-02 -7.33070005e-04 9.97815088e-01 -7.45441676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01534707 meters 0.0175737820923277 Centerline is valid? [True, True] Translation: X:-119.70, Y:14.39, Z:-7.45 [[ 9.66398977e-01 2.49120033e-01 -6.33421370e-02 -1.19704770e+02] [-2.48510182e-01 9.68471958e-01 1.74572749e-02 1.43865551e+01] [ 6.56940403e-02 -1.12952661e-03 9.97839174e-01 -7.45329698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07534707 meters 0.018520065105419363 Centerline is valid? [True, True] Translation: X:-119.76, Y:14.40, Z:-7.46 [[ 9.69426262e-01 2.37358433e-01 -6.22390323e-02 -1.19764217e+02] [-2.36746954e-01 9.71420339e-01 1.71290414e-02 1.43963260e+01] [ 6.45259844e-02 -1.87044125e-03 9.97914274e-01 -7.45604142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13534707 meters 0.023744599786693795 Centerline is valid? [True, True] Translation: X:-119.83, Y:14.40, Z:-7.46 [[ 9.73303282e-01 2.20622368e-01 -6.32968644e-02 -1.19825742e+02] [-2.19954459e-01 9.75354589e-01 1.74201712e-02 1.44003124e+01] [ 6.55801665e-02 -3.03268228e-03 9.97842695e-01 -7.45982072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19534707 meters 0.030554129909776417 Centerline is valid? [True, True] Translation: X:-119.89, Y:14.40, Z:-7.46 [[ 9.75689270e-01 2.09909015e-01 -6.29972530e-02 -1.19887870e+02] [-2.09225114e-01 9.77713787e-01 1.73378799e-02 1.44038161e+01] [ 6.52326601e-02 -3.73577589e-03 9.97863089e-01 -7.46414137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25534707 meters 0.026720311501662736 Centerline is valid? [True, True] Translation: X:-119.94, Y:14.44, Z:-7.47 [[ 9.75302488e-01 2.11537883e-01 -6.35356648e-02 -1.19942206e+02] [-2.10845725e-01 9.77362957e-01 1.74851415e-02 1.44368306e+01] [ 6.57961751e-02 -3.65707870e-03 9.97826382e-01 -7.46816664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31534707 meters 0.020506891046637984 Centerline is valid? [True, True] Translation: X:-119.99, Y:14.49, Z:-7.47 [[ 9.71022156e-01 2.29769462e-01 -6.57416598e-02 -1.19991369e+02] [-2.29070165e-01 9.73241865e-01 1.80867785e-02 1.44851938e+01] [ 6.81383250e-02 -2.50320985e-03 9.97672743e-01 -7.47023367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37534707 meters 0.014911393550632339 Centerline is valid? [True, True] Translation: X:-120.04, Y:14.54, Z:-7.47 [[ 9.64817037e-01 2.54215660e-01 -6.71005529e-02 -1.20040249e+02] [-2.53545785e-01 9.67147229e-01 1.84600264e-02 1.45369149e+01] [ 6.95889416e-02 -7.97485628e-04 9.97575432e-01 -7.47491143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43534707 meters 0.013975773676262782 Centerline is valid? [True, True] Translation: X:-120.09, Y:14.58, Z:-7.48 [[ 9.61539861e-01 2.66222922e-01 -6.75755240e-02 -1.20092809e+02] [-2.65573300e-01 9.63911485e-01 1.85868778e-02 1.45759876e+01] [ 7.00850766e-02 7.42310001e-05 9.97541015e-01 -7.47721886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49534707 meters 0.01349276616345591 Centerline is valid? [True, True] Translation: X:-120.15, Y:14.59, Z:-7.48 [[ 9.62376113e-01 2.63081909e-01 -6.79715041e-02 -1.20151619e+02] [-2.62417748e-01 9.64773491e-01 1.86825333e-02 1.45949254e+01] [ 7.04921418e-02 -1.42694735e-04 9.97512325e-01 -7.48475917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55534707 meters 0.013743746249555815 Centerline is valid? [True, True] Translation: X:-120.21, Y:14.60, Z:-7.49 [[ 9.64267707e-01 2.56178320e-01 -6.75311581e-02 -1.20212973e+02] [-2.55507129e-01 9.66629338e-01 1.85426510e-02 1.46049319e+01] [ 7.00278238e-02 -6.25387236e-04 9.97544843e-01 -7.48843384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61534707 meters 0.014081174199159786 Centerline is valid? [True, True] Translation: X:-120.27, Y:14.62, Z:-7.49 [[ 9.65391559e-01 2.51943716e-01 -6.74054968e-02 -1.20272169e+02] [-2.51266535e-01 9.67741465e-01 1.84819989e-02 1.46213037e+01] [ 6.98875177e-02 -9.05620064e-04 9.97554467e-01 -7.49130003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67534707 meters 0.013381079363181054 Centerline is valid? [True, True] Translation: X:-120.33, Y:14.64, Z:-7.50 [[ 9.64888442e-01 2.53526368e-01 -6.86634879e-02 -1.20330207e+02] [-2.52829395e-01 9.67328160e-01 1.88023375e-02 1.46423858e+01] [ 7.11870137e-02 -7.82010089e-04 9.97462680e-01 -7.50252370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73534707 meters 0.01294742863837334 Centerline is valid? [True, True] Translation: X:-120.39, Y:14.67, Z:-7.51 [[ 9.64515708e-01 2.54656929e-01 -6.97086650e-02 -1.20388858e+02] [-2.53943487e-01 9.67031221e-01 1.90610373e-02 1.46670068e+01] [ 7.22644807e-02 -6.82608424e-04 9.97385271e-01 -7.50983192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79534707 meters 0.012139812829412726 Centerline is valid? [True, True] Translation: X:-120.45, Y:14.69, Z:-7.52 [[ 9.62967743e-01 2.60393024e-01 -6.99185176e-02 -1.20445475e+02] [-2.59692393e-01 9.65502678e-01 1.90902850e-02 1.46909502e+01] [ 7.24774931e-02 -2.26021446e-04 9.97370023e-01 -7.51667827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85534707 meters 0.011926399278252819 Centerline is valid? [True, True] Translation: X:-120.50, Y:14.71, Z:-7.52 [[ 9.63015410e-01 2.59838486e-01 -7.13111645e-02 -1.20504890e+02] [-2.59109193e-01 9.65652057e-01 1.94558887e-02 1.47105543e+01] [ 7.39171613e-02 -2.58942322e-04 9.97264351e-01 -7.52276594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91534707 meters 0.015022133215230648 Centerline is valid? [True, True] Translation: X:-120.56, Y:14.73, Z:-7.53 [[ 9.61407212e-01 2.66800215e-01 -6.71849527e-02 -1.20563075e+02] [-2.66170861e-01 9.63751820e-01 1.83167216e-02 1.47318129e+01] [ 6.96365257e-02 2.72848479e-04 9.97572393e-01 -7.52602913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97534707 meters 0.016613265135630873 Centerline is valid? [True, True] Translation: X:-120.62, Y:14.75, Z:-7.53 [[ 9.60537597e-01 2.70273992e-01 -6.57228628e-02 -1.20621290e+02] [-2.69681349e-01 9.62783301e-01 1.78965330e-02 1.47531444e+01] [ 6.81138422e-02 5.33937541e-04 9.97677413e-01 -7.52924547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03534707 meters 0.016972957048760742 Centerline is valid? [True, True] Translation: X:-120.68, Y:14.78, Z:-7.54 [[ 9.60302176e-01 2.70883393e-01 -6.66477208e-02 -1.20679277e+02] [-2.70276936e-01 9.62611977e-01 1.81261842e-02 1.47754462e+01] [ 6.90659766e-02 6.06727699e-04 9.97611910e-01 -7.53653130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09534707 meters 0.01763774117215008 Centerline is valid? [True, True] Translation: X:-120.74, Y:14.80, Z:-7.54 [[ 9.59725011e-01 2.72771035e-01 -6.72596893e-02 -1.20737572e+02] [-2.72159574e-01 9.62078670e-01 1.82701491e-02 1.47992107e+01] [ 6.96926799e-02 7.71049331e-04 9.97568211e-01 -7.54213531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15534707 meters 0.01849961179882323 Centerline is valid? [True, True] Translation: X:-120.80, Y:14.82, Z:-7.55 [[ 9.58712485e-01 2.76386991e-01 -6.69372994e-02 -1.20796068e+02] [-2.75791721e-01 9.61045851e-01 1.81603467e-02 1.48216189e+01] [ 6.93490974e-02 1.05020185e-03 9.97591900e-01 -7.54740120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21534706999999 meters 0.01973810471529882 Centerline is valid? [True, True] Translation: X:-120.86, Y:14.84, Z:-7.55 [[ 9.58109001e-01 2.78686931e-01 -6.60358769e-02 -1.20855290e+02] [-2.78114577e-01 9.60381228e-01 1.78935591e-02 1.48407510e+01] [ 6.84063176e-02 1.22155994e-03 9.97656796e-01 -7.54909619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27534707 meters 0.02180815588406287 Centerline is valid? [True, True] Translation: X:-120.92, Y:14.86, Z:-7.56 [[ 9.58443856e-01 2.77319979e-01 -6.69253674e-02 -1.20915193e+02] [-2.76730387e-01 9.60776915e-01 1.81111400e-02 1.48573465e+01] [ 6.93229289e-02 1.16177194e-03 9.97593596e-01 -7.55764522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33534707 meters 0.021394809279133814 Centerline is valid? [True, True] Translation: X:-120.97, Y:14.87, Z:-7.56 [[ 9.57830287e-01 2.79461942e-01 -6.67994318e-02 -1.20973986e+02] [-2.78881357e-01 9.60155840e-01 1.80541285e-02 1.48728643e+01] [ 6.91833063e-02 1.33632516e-03 9.97603070e-01 -7.56409270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39534707 meters 0.02447631159347863 Centerline is valid? [True, True] Translation: X:-121.03, Y:14.89, Z:-7.57 [[ 9.56616416e-01 2.83557977e-01 -6.69321036e-02 -1.21032051e+02] [-2.82986062e-01 9.58953676e-01 1.80758180e-02 1.48948517e+01] [ 6.93103292e-02 1.64922817e-03 9.97593784e-01 -7.57305443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45534707 meters 0.02423067093492358 Centerline is valid? [True, True] Translation: X:-121.09, Y:14.91, Z:-7.58 [[ 9.55611126e-01 2.86592799e-01 -6.83516163e-02 -1.21090662e+02] [-2.86005868e-01 9.58050537e-01 1.84340238e-02 1.49124701e+01] [ 7.07673611e-02 1.93320508e-03 9.97490974e-01 -7.57520940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51534707 meters 0.027359499111799454 Centerline is valid? [True, True] Translation: X:-121.15, Y:14.93, Z:-7.59 [[ 9.54759997e-01 2.88944317e-01 -7.03173539e-02 -1.21150102e+02] [-2.88331033e-01 9.57343402e-01 1.89426843e-02 1.49305300e+01] [ 7.27912358e-02 2.18895809e-03 9.97344797e-01 -7.58730730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57534707 meters 0.02936961220641579 Centerline is valid? [True, True] Translation: X:-121.21, Y:14.95, Z:-7.59 [[ 9.54244615e-01 2.90795346e-01 -6.96798446e-02 -1.21209736e+02] [-2.90198783e-01 9.56782468e-01 1.87610020e-02 1.49464913e+01] [ 7.21240658e-02 2.31842093e-03 9.97392974e-01 -7.59353785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63534707 meters 0.02837312768057467 Centerline is valid? [True, True] Translation: X:-121.27, Y:14.96, Z:-7.60 [[ 9.54053185e-01 2.90995666e-01 -7.14425888e-02 -1.21270894e+02] [-2.90370895e-01 9.56721319e-01 1.92109548e-02 1.49589955e+01] [ 7.39409524e-02 2.41657580e-03 9.97259693e-01 -7.59955371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69534707 meters 0.027025328801292926 Centerline is valid? [True, True] Translation: X:-121.33, Y:14.96, Z:-7.61 [[ 9.54644684e-01 2.88793005e-01 -7.24715570e-02 -1.21332388e+02] [-2.88145590e-01 9.57388793e-01 1.94632399e-02 1.49646262e+01] [ 7.50043040e-02 2.30188100e-03 9.97180553e-01 -7.60718083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75534707 meters 0.028765612569755215 Centerline is valid? [True, True] Translation: X:-121.39, Y:14.98, Z:-7.62 [[ 9.55736190e-01 2.84290904e-01 -7.58090807e-02 -1.21391636e+02] [-2.83570420e-01 9.58735844e-01 2.03322225e-02 1.49802993e+01] [ 7.84611488e-02 2.06497197e-03 9.96915034e-01 -7.61955117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81534707 meters 0.02732084677892309 Centerline is valid? [True, True] Translation: X:-121.45, Y:14.99, Z:-7.62 [[ 9.55460080e-01 2.85547400e-01 -7.45568152e-02 -1.21451329e+02] [-2.84856449e-01 9.58362158e-01 1.99694238e-02 1.49931197e+01] [ 7.71546474e-02 2.15800236e-03 9.97016802e-01 -7.62317369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87534707 meters 0.02836190179758001 Centerline is valid? [True, True] Translation: X:-121.51, Y:15.01, Z:-7.63 [[ 9.55031976e-01 2.86341834e-01 -7.69563453e-02 -1.21511267e+02] [-2.85610286e-01 9.58124718e-01 2.05861380e-02 1.50065513e+01] [ 7.96284492e-02 2.31910369e-03 9.96821916e-01 -7.63017235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93534707 meters 0.02950475291387528 Centerline is valid? [True, True] Translation: X:-121.57, Y:15.03, Z:-7.63 [[ 9.53775686e-01 2.90599712e-01 -7.65751153e-02 -1.21570125e+02] [-2.89890962e-01 9.56840951e-01 2.04603401e-02 1.50252076e+01] [ 7.92159751e-02 2.68385899e-03 9.96853864e-01 -7.63342316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99534707 meters 0.03042695062857329 Centerline is valid? [True, True] Translation: X:-121.63, Y:15.04, Z:-7.64 [[ 9.52825299e-01 2.93246875e-01 -7.82957259e-02 -1.21627354e+02] [-2.92515231e-01 9.56032123e-01 2.09145617e-02 1.50429426e+01] [ 8.09863590e-02 2.97476882e-03 9.96710771e-01 -7.63877845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05534707 meters 0.032345723886725665 Centerline is valid? [True, True] Translation: X:-121.69, Y:15.06, Z:-7.65 [[ 9.52696351e-01 2.93323833e-01 -7.95662737e-02 -1.21685989e+02] [-2.92569152e-01 9.56008317e-01 2.12459434e-02 1.50634347e+01] [ 8.22979610e-02 3.03770451e-03 9.96603140e-01 -7.64653616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11534707 meters 0.030120947047974217 Centerline is valid? [True, True] Translation: X:-121.75, Y:15.07, Z:-7.65 [[ 9.54397337e-01 2.87014270e-01 -8.21494549e-02 -1.21746185e+02] [-2.86188600e-01 9.57922779e-01 2.19096958e-02 1.50730542e+01] [ 8.49812295e-02 2.59968219e-03 9.96379161e-01 -7.65301035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17534707 meters 0.031579066341276565 Centerline is valid? [True, True] Translation: X:-121.81, Y:15.08, Z:-7.66 [[ 9.55999897e-01 2.81555606e-01 -8.24053317e-02 -1.21807639e+02] [-2.80705179e-01 9.59542554e-01 2.19702172e-02 1.50811497e+01] [ 8.52572602e-02 2.12807802e-03 9.96356699e-01 -7.66043455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23534707 meters 0.028897560246970787 Centerline is valid? [True, True] Translation: X:-121.87, Y:15.09, Z:-7.67 [[ 9.57396931e-01 2.76833693e-01 -8.21840822e-02 -1.21869033e+02] [-2.75972744e-01 9.60916291e-01 2.18843830e-02 1.50872059e+01] [ 8.50303580e-02 1.72852553e-03 9.96376862e-01 -7.66510439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29534707 meters 0.03083654846039212 Centerline is valid? [True, True] Translation: X:-121.93, Y:15.10, Z:-7.68 [[ 9.58066254e-01 2.74527760e-01 -8.21191978e-02 -1.21929411e+02] [-2.73662143e-01 9.61577925e-01 2.18386233e-02 1.50989215e+01] [ 8.49593161e-02 1.55006762e-03 9.96383215e-01 -7.67598870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35534707 meters 0.03135534243998691 Centerline is valid? [True, True] Translation: X:-121.99, Y:15.11, Z:-7.68 [[ 9.58048284e-01 2.74425702e-01 -8.26681309e-02 -1.21988248e+02] [-2.73550697e-01 9.61607007e-01 2.19540758e-02 1.51143932e+01] [ 8.55190166e-02 1.58086016e-03 9.96335284e-01 -7.68190260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41534707 meters 0.03379537684528294 Centerline is valid? [True, True] Translation: X:-122.05, Y:15.14, Z:-7.69 [[ 9.57169925e-01 2.77104297e-01 -8.38984065e-02 -1.22046482e+02] [-2.76215477e-01 9.60838022e-01 2.22554590e-02 1.51373054e+01] [ 8.67798623e-02 1.87178231e-03 9.96225754e-01 -7.69104423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47534707 meters 0.036678727571695754 Centerline is valid? [True, True] Translation: X:-122.10, Y:15.16, Z:-7.70 [[ 9.55688810e-01 2.81635582e-01 -8.56755386e-02 -1.22102203e+02] [-2.80727900e-01 9.59518580e-01 2.27143170e-02 1.51616073e+01] [ 8.86044311e-02 2.34369542e-03 9.96064135e-01 -7.69894838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53534707 meters 0.039015776141441735 Centerline is valid? [True, True] Translation: X:-122.16, Y:15.19, Z:-7.71 [[ 9.54210943e-01 2.86088390e-01 -8.73779730e-02 -1.22156910e+02] [-2.85163906e-01 9.58199071e-01 2.31535469e-02 1.51909809e+01] [ 9.03494535e-02 2.82367625e-03 9.95906122e-01 -7.71054870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59534707 meters 0.03965494931320463 Centerline is valid? [True, True] Translation: X:-122.21, Y:15.22, Z:-7.72 [[ 9.52855302e-01 2.90152365e-01 -8.87602340e-02 -1.22212656e+02] [-2.89216370e-01 9.56974893e-01 2.35147833e-02 1.52175778e+01] [ 9.17641855e-02 3.26472668e-03 9.95775414e-01 -7.71831131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65534707 meters 0.038797449553818426 Centerline is valid? [True, True] Translation: X:-122.27, Y:15.24, Z:-7.73 [[ 9.53460200e-01 2.87033124e-01 -9.23343533e-02 -1.22271257e+02] [-2.86006960e-01 9.57915643e-01 2.44466573e-02 1.52377548e+01] [ 9.54655219e-02 3.09935293e-03 9.95427912e-01 -7.72597884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71534706999999 meters 0.04172559758285585 Centerline is valid? [True, True] Translation: X:-122.33, Y:15.26, Z:-7.74 [[ 9.53443079e-01 2.86111995e-01 -9.53216698e-02 -1.22329108e+02] [-2.85016657e-01 9.58191056e-01 2.52072333e-02 1.52619574e+01] [ 9.85484633e-02 3.13460154e-03 9.95127316e-01 -7.73716264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77534707 meters 0.04069631070588514 Centerline is valid? [True, True] Translation: X:-122.39, Y:15.28, Z:-7.74 [[ 9.54461068e-01 2.82265118e-01 -9.65943726e-02 -1.22388613e+02] [-2.81122707e-01 9.59332370e-01 2.55230760e-02 1.52757339e+01] [ 9.98703825e-02 2.79408908e-03 9.94996533e-01 -7.74452764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83534707 meters 0.04182601872480736 Centerline is valid? [True, True] Translation: X:-122.45, Y:15.30, Z:-7.77 [[ 9.55902990e-01 2.76085399e-01 -1.00131542e-01 -1.22445459e+02] [-2.74827761e-01 9.61130441e-01 2.64192720e-02 1.52991653e+01] [ 1.03533449e-01 2.26466656e-03 9.94623394e-01 -7.77023309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89534707 meters 0.039154673139922894 Centerline is valid? [True, True] Translation: X:-122.50, Y:15.32, Z:-7.77 [[ 9.55669687e-01 2.76289555e-01 -1.01781778e-01 -1.22504107e+02] [-2.74994730e-01 9.61071550e-01 2.68211362e-02 1.53174121e+01] [ 1.05229971e-01 2.35730571e-03 9.94445120e-01 -7.76903302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95534707 meters 0.03584573134425248 Centerline is valid? [True, True] Translation: X:-122.56, Y:15.34, Z:-7.76 [[ 9.54863556e-01 2.78736073e-01 -1.02673227e-01 -1.22563863e+02] [-2.77435465e-01 9.60364012e-01 2.70282625e-02 1.53380232e+01] [ 1.06137424e-01 2.67689159e-03 9.94347867e-01 -7.76376904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01534707 meters 0.032927231944416935 Centerline is valid? [True, True] Translation: X:-122.63, Y:15.35, Z:-7.75 [[ 9.54385021e-01 2.80570665e-01 -1.02124112e-01 -1.22625178e+02] [-2.79297798e-01 9.59829003e-01 2.68519079e-02 1.53492768e+01] [ 1.05555542e-01 2.89598098e-03 9.94409192e-01 -7.74830714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07534707 meters 0.031571927920777815 Centerline is valid? [True, True] Translation: X:-122.68, Y:15.37, Z:-7.75 [[ 9.54765512e-01 2.78521308e-01 -1.04157086e-01 -1.22684659e+02] [-2.77188210e-01 9.60426108e-01 2.73566880e-02 1.53673662e+01] [ 1.07654605e-01 2.75189397e-03 9.94184547e-01 -7.75324426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13534707 meters 0.0309601336642011 Centerline is valid? [True, True] Translation: X:-122.74, Y:15.39, Z:-7.77 [[ 9.52166116e-01 2.84416848e-01 -1.11744101e-01 -1.22740318e+02] [-2.82925380e-01 9.58693592e-01 2.93227872e-02 1.53910638e+01] [ 1.15468248e-01 3.69507789e-03 9.93304299e-01 -7.76825076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19534707 meters 0.03398832237764345 Centerline is valid? [True, True] Translation: X:-122.79, Y:15.43, Z:-7.75 [[ 9.46716763e-01 3.04459661e-01 -1.05031831e-01 -1.22793727e+02] [-3.03264219e-01 9.52507821e-01 2.75620110e-02 1.54253468e+01] [ 1.08435161e-01 5.75897830e-03 9.94086842e-01 -7.75489861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25534707 meters 0.03574106800437488 Centerline is valid? [True, True] Translation: X:-122.85, Y:15.44, Z:-7.76 [[ 9.42657702e-01 3.15594803e-01 -1.08611131e-01 -1.22852120e+02] [-3.14389431e-01 9.48866133e-01 2.85016978e-02 1.54399351e+01] [ 1.12052412e-01 7.27884687e-03 9.93675639e-01 -7.75617277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31534707 meters 0.04040480510235592 Centerline is valid? [True, True] Translation: X:-122.91, Y:15.47, Z:-7.76 [[ 9.40103519e-01 3.22881786e-01 -1.09328524e-01 -1.22907993e+02] [-3.21709553e-01 9.46403746e-01 2.86864664e-02 1.54664583e+01] [ 1.12731262e-01 8.20378252e-03 9.93591647e-01 -7.76487169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37534707 meters 0.043948293028464785 Centerline is valid? [True, True] Translation: X:-122.96, Y:15.49, Z:-7.78 [[ 9.37775928e-01 3.29782399e-01 -1.08719266e-01 -1.22963930e+02] [-3.28669672e-01 9.44014200e-01 2.85208080e-02 1.54931263e+01] [ 1.12038191e-01 8.98659820e-03 9.93663265e-01 -7.77669865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43534707 meters 0.04492940453126355 Centerline is valid? [True, True] Translation: X:-123.02, Y:15.50, Z:-7.78 [[ 9.36809819e-01 3.32068163e-01 -1.10082231e-01 -1.23023755e+02] [-3.30943581e-01 9.43208727e-01 2.88728960e-02 1.55044679e+01] [ 1.13418290e-01 9.38259512e-03 9.93503024e-01 -7.77888115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49534707 meters 0.041297046388802224 Centerline is valid? [True, True] Translation: X:-123.09, Y:15.49, Z:-7.80 [[ 9.41541664e-01 3.15809330e-01 -1.17319059e-01 -1.23089003e+02] [-3.14406849e-01 9.48789634e-01 3.07662813e-02 1.54923980e+01] [ 1.21027386e-01 7.91817996e-03 9.92617587e-01 -7.79932205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55534707 meters 0.03507628068623642 Centerline is valid? [True, True] Translation: X:-123.15, Y:15.47, Z:-7.81 [[ 9.48106826e-01 2.91276227e-01 -1.27481789e-01 -1.23154719e+02] [-2.89398934e-01 9.56624840e-01 3.34241423e-02 1.54730513e+01] [ 1.31687904e-01 5.20343619e-03 9.91277570e-01 -7.81479565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61534707 meters 0.029510638341540312 Centerline is valid? [True, True] Translation: X:-123.22, Y:15.46, Z:-7.80 [[ 9.53790752e-01 2.72546379e-01 -1.26497716e-01 -1.23220879e+02] [-2.70533888e-01 9.62139152e-01 3.31612421e-02 1.54617124e+01] [ 1.30746382e-01 2.59303290e-03 9.91412457e-01 -7.80344043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67534707 meters 0.03620751902198222 Centerline is valid? [True, True] Translation: X:-123.29, Y:15.44, Z:-7.84 [[ 9.62103724e-01 2.31327049e-01 -1.44375278e-01 -1.23288155e+02] [-2.28236516e-01 9.72869893e-01 3.78452544e-02 1.54353783e+01] [ 1.49212993e-01 -3.45934958e-03 9.88799027e-01 -7.83692823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73534707 meters 0.03984903906799209 Centerline is valid? [True, True] Translation: X:-123.35, Y:15.44, Z:-7.86 [[ 9.63268241e-01 2.19095735e-01 -1.55278317e-01 -1.23347867e+02] [-2.15359093e-01 9.75686327e-01 4.07020000e-02 1.54396007e+01] [ 1.60420566e-01 -5.76634637e-03 9.87031910e-01 -7.86198643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79534707 meters 0.03157399748779865 Centerline is valid? [True, True] Translation: X:-123.41, Y:15.45, Z:-7.84 [[ 9.60299083e-01 2.30910831e-01 -1.56543475e-01 -1.23407766e+02] [-2.27267510e-01 9.72967380e-01 4.10360377e-02 1.54512998e+01] [ 1.61787361e-01 -3.82962347e-03 9.86818212e-01 -7.84350905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85534707 meters 0.06654982441844837 Centerline is valid? [True, True] Translation: X:-123.51, Y:15.29, Z:-7.88 [[ 9.39711958e-01 3.33110669e-01 -7.73221740e-02 -1.23510292e+02] [-3.32560184e-01 9.42864171e-01 2.02701622e-02 1.52855887e+01] [ 7.96565148e-02 6.66616265e-03 9.96800081e-01 -7.87839605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91534707 meters 0.06701599773833332 Centerline is valid? [True, True] Translation: X:-123.58, Y:15.25, Z:-7.89 [[ 9.48293796e-01 3.04284716e-01 -9.02756255e-02 -1.23581354e+02] [-3.03403258e-01 9.52568287e-01 2.36668876e-02 1.52487044e+01] [ 9.31951701e-02 4.94675622e-03 9.95635571e-01 -7.88629701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97534707 meters 0.06353999063878865 Centerline is valid? [True, True] Translation: X:-123.66, Y:15.20, Z:-7.86 [[ 9.57828549e-01 2.61354237e-01 -1.19408680e-01 -1.23655558e+02] [-2.59471724e-01 9.65242461e-01 3.13275554e-02 1.52041096e+01] [ 1.23445918e-01 9.76749275e-04 9.92350821e-01 -7.85807058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03534707 meters 0.06869439832384563 Centerline is valid? [True, True] Translation: X:-123.72, Y:15.20, Z:-7.86 [[ 9.56681232e-01 2.67114000e-01 -1.15806438e-01 -1.23717823e+02] [-2.65382157e-01 9.63663544e-01 3.04119049e-02 1.52011157e+01] [ 1.19721888e-01 1.63846381e-03 9.92806116e-01 -7.85925656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09534707 meters 0.04179529964917751 Centerline is valid? [True, True] Translation: X:-123.77, Y:15.23, Z:-7.90 [[ 9.52327640e-01 2.80887024e-01 -1.19056901e-01 -1.23767837e+02] [-2.79162101e-01 9.59734623e-01 3.12725796e-02 1.52319821e+01] [ 1.23047092e-01 3.45443288e-03 9.92394821e-01 -7.89834863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15534707 meters 0.0715934163042905 Centerline is valid? [True, True] Translation: X:-123.82, Y:15.26, Z:-7.90 [[ 9.46003292e-01 3.03629329e-01 -1.13520930e-01 -1.23821672e+02] [-3.02222658e-01 9.52770732e-01 2.98227735e-02 1.52641087e+01] [ 1.17214488e-01 6.09615523e-03 9.93087912e-01 -7.89666600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21534706999999 meters 0.08054487530082566 Centerline is valid? [True, True] Translation: X:-123.87, Y:15.31, Z:-7.90 [[ 9.35609684e-01 3.35833809e-01 -1.08858492e-01 -1.23871975e+02] [-3.34754068e-01 9.41871471e-01 2.85980103e-02 1.53126228e+01] [ 1.12134886e-01 9.68424744e-03 9.93645803e-01 -7.90065823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27534707 meters 0.09569572808338911 Centerline is valid? [True, True] Translation: X:-123.92, Y:15.35, Z:-7.91 [[ 9.28492582e-01 3.54947248e-01 -1.09151161e-01 -1.23923419e+02] [-3.53991115e-01 9.34809121e-01 2.86740049e-02 1.53535951e+01] [ 1.12213260e-01 1.20149402e-02 9.93611506e-01 -7.90953574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33534707 meters 0.06188860234531304 Centerline is valid? [True, True] Translation: X:-123.99, Y:15.35, Z:-7.90 [[ 9.21236270e-01 3.73779471e-01 -1.07761972e-01 -1.23986857e+02] [-3.72972997e-01 9.27410230e-01 2.83091696e-02 1.53488963e+01] [ 1.10520942e-01 1.41128720e-02 9.93773590e-01 -7.90498614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39534707 meters 0.06100145368469338 Centerline is valid? [True, True] Translation: X:-124.04, Y:15.37, Z:-7.91 [[ 9.17527523e-01 3.83778514e-01 -1.04198354e-01 -1.24043743e+02] [-3.83087076e-01 9.23306548e-01 2.73735430e-02 1.53687029e+01] [ 1.06712400e-01 1.48010637e-02 9.94179758e-01 -7.91201835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45534707 meters 0.059390458688235157 Centerline is valid? [True, True] Translation: X:-124.10, Y:15.40, Z:-7.93 [[ 9.17801333e-01 3.83115959e-01 -1.04225120e-01 -1.24098763e+02] [-3.82420385e-01 9.23582781e-01 2.73769294e-02 1.53954634e+01] [ 1.06749065e-01 1.47312281e-02 9.94176860e-01 -7.93141205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51534707 meters 0.06919739686647995 Centerline is valid? [True, True] Translation: X:-124.15, Y:15.43, Z:-7.95 [[ 9.15239613e-01 3.88045996e-01 -1.08428575e-01 -1.24151887e+02] [-3.87327800e-01 9.21502225e-01 2.84749963e-02 1.54266044e+01] [ 1.10966781e-01 1.59359567e-02 9.93696341e-01 -7.95007293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57534707 meters 0.07092142650890954 Centerline is valid? [True, True] Translation: X:-124.21, Y:15.44, Z:-7.95 [[ 9.15088054e-01 3.88756463e-01 -1.07155331e-01 -1.24211911e+02] [-3.88060260e-01 9.21204443e-01 2.81355419e-02 1.54438089e+01] [ 1.09649841e-01 1.58362273e-02 9.93844116e-01 -7.95478845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63534707 meters 0.07068998852254035 Centerline is valid? [True, True] Translation: X:-124.27, Y:15.46, Z:-7.96 [[ 9.15179626e-01 3.88225308e-01 -1.08292948e-01 -1.24273168e+02] [-3.87512379e-01 9.21426345e-01 2.84191350e-02 1.54584052e+01] [ 1.10817003e-01 1.59562448e-02 9.93712730e-01 -7.96326425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69534707 meters 0.0631675417656784 Centerline is valid? [True, True] Translation: X:-124.34, Y:15.46, Z:-7.97 [[ 9.16904799e-01 3.85013425e-01 -1.05120183e-01 -1.24335652e+02] [-3.84322074e-01 9.22787169e-01 2.75750579e-02 1.54593360e+01] [ 1.07620324e-01 1.51163040e-02 9.94077141e-01 -7.96701258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75534707 meters 0.06163248663697125 Centerline is valid? [True, True] Translation: X:-124.40, Y:15.47, Z:-7.97 [[ 9.19190019e-01 3.79614724e-01 -1.04796801e-01 -1.24395278e+02] [-3.78893438e-01 9.25031974e-01 2.74883508e-02 1.54692932e+01] [ 1.07375374e-01 1.44398023e-02 9.94113686e-01 -7.97433459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81534707 meters 0.06042660163364865 Centerline is valid? [True, True] Translation: X:-124.45, Y:15.48, Z:-7.98 [[ 9.22341204e-01 3.72127670e-01 -1.03960091e-01 -1.24454440e+02] [-3.71371167e-01 9.28083995e-01 2.72682089e-02 1.54791675e+01] [ 1.06630952e-01 1.34571876e-02 9.94207596e-01 -7.98178895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87534707 meters 0.05046345522760508 Centerline is valid? [True, True] Translation: X:-124.52, Y:15.47, Z:-7.99 [[ 9.25584510e-01 3.63831282e-01 -1.04499349e-01 -1.24517917e+02] [-3.63014764e-01 9.31380128e-01 2.74105454e-02 1.54722112e+01] [ 1.07301431e-01 1.25640301e-02 9.94147146e-01 -7.98610993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93534707 meters 0.04380949143101274 Centerline is valid? [True, True] Translation: X:-124.58, Y:15.47, Z:-7.99 [[ 9.31785431e-01 3.47643171e-01 -1.04499456e-01 -1.24579613e+02] [-3.46725633e-01 9.37565962e-01 2.74117333e-02 1.54724607e+01] [ 1.07504635e-01 1.06907863e-02 9.94147102e-01 -7.99418149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99534707 meters 0.047879476265541496 Centerline is valid? [True, True] Translation: X:-124.64, Y:15.49, Z:-8.01 [[ 9.37015712e-01 3.33379249e-01 -1.04210515e-01 -1.24636413e+02] [-3.32379058e-01 9.42749633e-01 2.73366312e-02 1.54920668e+01] [ 1.07357890e-01 9.02253979e-03 9.94179500e-01 -8.00954977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05534706999998 meters 0.038458626807381 Centerline is valid? [True, True] Translation: X:-124.70, Y:15.49, Z:-8.01 [[ 9.40650931e-01 3.22935291e-01 -1.04348567e-01 -1.24699095e+02] [-3.21868469e-01 9.46388595e-01 2.73736421e-02 1.54894451e+01] [ 1.07594209e-01 7.83747166e-03 9.94164001e-01 -8.00959060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11534706999998 meters 0.03155385989704018 Centerline is valid? [True, True] Translation: X:-124.76, Y:15.49, Z:-8.01 [[ 9.43000642e-01 3.16049707e-01 -1.04222700e-01 -1.24759735e+02] [-3.14943587e-01 9.48716501e-01 2.73411396e-02 1.54925016e+01] [ 1.07518954e-01 7.04155866e-03 9.94178098e-01 -8.01275915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17534707 meters 0.03268204351719398 Centerline is valid? [True, True] Translation: X:-124.82, Y:15.51, Z:-8.02 [[ 9.43963846e-01 3.13189111e-01 -1.04138550e-01 -1.24816075e+02] [-3.12067134e-01 9.49667098e-01 2.73222796e-02 1.55118632e+01] [ 1.07453995e-01 6.70697456e-03 9.94187435e-01 -8.02117486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23534707 meters 0.03584205245647644 Centerline is valid? [True, True] Translation: X:-124.87, Y:15.53, Z:-8.03 [[ 9.43333046e-01 3.14911378e-01 -1.04659389e-01 -1.24870665e+02] [-3.13787674e-01 9.49095784e-01 2.74679586e-02 1.55339972e+01] [ 1.07981758e-01 6.92939314e-03 9.94128726e-01 -8.03121434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29534707 meters 0.031855921152650665 Centerline is valid? [True, True] Translation: X:-124.93, Y:15.55, Z:-8.03 [[ 9.42464674e-01 3.17193703e-01 -1.05586426e-01 -1.24927774e+02] [-3.16062916e-01 9.48333104e-01 2.77228512e-02 1.55472968e+01] [ 1.08924617e-01 7.24414592e-03 9.94023616e-01 -8.03289252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35534707 meters 0.03227348390468203 Centerline is valid? [True, True] Translation: X:-124.98, Y:15.57, Z:-8.04 [[ 9.42099007e-01 3.18388240e-01 -1.05253927e-01 -1.24982105e+02] [-3.17269290e-01 9.47932023e-01 2.76600165e-02 1.55695749e+01] [ 1.08580192e-01 7.33536476e-03 9.94060629e-01 -8.03955953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41534707 meters 0.04122551495443353 Centerline is valid? [True, True] Translation: X:-125.03, Y:15.60, Z:-8.06 [[ 9.41169237e-01 3.20358482e-01 -1.07568165e-01 -1.25034374e+02] [-3.19199110e-01 9.47265075e-01 2.82985087e-02 1.56027510e+01] [ 1.10961233e-01 7.70197666e-03 9.93794890e-01 -8.05859316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47534707 meters 0.04064930846263039 Centerline is valid? [True, True] Translation: X:-125.09, Y:15.62, Z:-8.07 [[ 9.41455887e-01 3.19014254e-01 -1.09044572e-01 -1.25090486e+02] [-3.17811682e-01 9.47719204e-01 2.87061984e-02 1.56191577e+01] [ 1.12501321e-01 7.63001933e-03 9.93622280e-01 -8.06831131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53534706999997 meters 0.03580204856699262 Centerline is valid? [True, True] Translation: X:-125.15, Y:15.63, Z:-8.08 [[ 9.43817748e-01 3.11942996e-01 -1.09085405e-01 -1.25149122e+02] [-3.10689676e-01 9.50076740e-01 2.87421923e-02 1.56276684e+01] [ 1.12605431e-01 6.76431787e-03 9.93616758e-01 -8.07610442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59534706999997 meters 0.03080555794725136 Centerline is valid? [True, True] Translation: X:-125.21, Y:15.63, Z:-8.09 [[ 9.46530683e-01 3.02564923e-01 -1.11955945e-01 -1.25208918e+02] [-3.01179083e-01 9.53111157e-01 2.95005435e-02 1.56339204e+01] [ 1.15632290e-01 5.79561927e-03 9.93275181e-01 -8.08969526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65534706999998 meters 0.02927900684787497 Centerline is valid? [True, True] Translation: X:-125.27, Y:15.65, Z:-8.10 [[ 9.47333229e-01 2.99743558e-01 -1.12754394e-01 -1.25266224e+02] [-2.98315605e-01 9.54004122e-01 2.97310405e-02 1.56461434e+01] [ 1.16479844e-01 5.47119253e-03 9.93177986e-01 -8.09637183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71534706999998 meters 0.025493704864892375 Centerline is valid? [True, True] Translation: X:-125.33, Y:15.65, Z:-8.11 [[ 9.49761214e-01 2.91382134e-01 -1.14236986e-01 -1.25325398e+02] [-2.89852759e-01 9.56596260e-01 3.01491783e-02 1.56543512e+01] [ 1.18063605e-01 4.47738539e-03 9.92995941e-01 -8.10819897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77534706999998 meters 0.020321930143067192 Centerline is valid? [True, True] Translation: X:-125.39, Y:15.65, Z:-8.12 [[ 9.53107414e-01 2.79866627e-01 -1.15156102e-01 -1.25385251e+02] [-2.78227939e-01 9.60033987e-01 3.03966705e-02 1.56544974e+01] [ 1.19060786e-01 3.06835301e-03 9.92882226e-01 -8.12172585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83534706999998 meters 0.01700654434945667 Centerline is valid? [True, True] Translation: X:-125.44, Y:15.66, Z:-8.13 [[ 9.56511937e-01 2.67632461e-01 -1.16007669e-01 -1.25444672e+02] [-2.65878134e-01 9.63519840e-01 3.06322594e-02 1.56588744e+01] [ 1.19973878e-01 1.54378077e-03 9.92775849e-01 -8.13072509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89534706999999 meters 0.016545381715707644 Centerline is valid? [True, True] Translation: X:-125.50, Y:15.66, Z:-8.14 [[ 9.59422215e-01 2.57356779e-01 -1.15223699e-01 -1.25503704e+02] [-2.55550149e-01 9.66316424e-01 3.04415920e-02 1.56618335e+01] [ 1.19176903e-01 2.39093738e-04 9.92873007e-01 -8.14079581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95534707 meters 0.016420569151504593 Centerline is valid? [True, True] Translation: X:-125.56, Y:15.67, Z:-8.15 [[ 9.60758995e-01 2.51632666e-01 -1.16718273e-01 -1.25561935e+02] [-2.49732542e-01 9.67822681e-01 3.08693361e-02 1.56699790e+01] [ 1.20730326e-01 -5.09641213e-04 9.92685211e-01 -8.15079649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01534707 meters 0.017543700607611543 Centerline is valid? [True, True] Translation: X:-125.62, Y:15.68, Z:-8.16 [[ 9.62021943e-01 2.46772767e-01 -1.16691826e-01 -1.25619278e+02] [-2.44831639e-01 9.69072667e-01 3.09133406e-02 1.56805376e+01] [ 1.20711430e-01 -1.16946089e-03 9.92686951e-01 -8.16479405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07534707 meters 0.018497182107680074 Centerline is valid? [True, True] Translation: X:-125.68, Y:15.69, Z:-8.17 [[ 9.62404512e-01 2.45080262e-01 -1.17103462e-01 -1.25677228e+02] [-2.43107926e-01 9.69501744e-01 3.10629265e-02 1.56921401e+01] [ 1.21144921e-01 -1.42632083e-03 9.92633807e-01 -8.17200087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13534707 meters 0.018524459658294835 Centerline is valid? [True, True] Translation: X:-125.73, Y:15.70, Z:-8.18 [[ 9.62648887e-01 2.44235172e-01 -1.16860181e-01 -1.25733626e+02] [-2.42259927e-01 9.69714762e-01 3.10388191e-02 1.57041654e+01] [ 1.20901814e-01 -1.56894576e-03 9.92663231e-01 -8.18118355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19534707 meters 0.019297389755542415 Centerline is valid? [True, True] Translation: X:-125.79, Y:15.72, Z:-8.19 [[ 9.62937476e-01 2.42748395e-01 -1.17578204e-01 -1.25790820e+02] [-2.40730991e-01 9.70087576e-01 3.12839342e-02 1.57168898e+01] [ 1.21655280e-01 -1.81975499e-03 9.92570744e-01 -8.19261164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25534707 meters 0.01966719475309227 Centerline is valid? [True, True] Translation: X:-125.85, Y:15.73, Z:-8.21 [[ 9.63476235e-01 2.41627433e-01 -1.15454442e-01 -1.25847755e+02] [-2.39668568e-01 9.70367089e-01 3.07683202e-02 1.57304583e+01] [ 1.19467661e-01 -1.97374452e-03 9.92836131e-01 -8.20534162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31534706999997 meters 0.019946858585225286 Centerline is valid? [True, True] Translation: X:-125.90, Y:15.74, Z:-8.21 [[ 9.63427395e-01 2.41659195e-01 -1.15795027e-01 -1.25904724e+02] [-2.39682896e-01 9.70359075e-01 3.09091436e-02 1.57447624e+01] [ 1.19832234e-01 -2.02462831e-03 9.92792091e-01 -8.21439052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37534706999998 meters 0.019574470217426834 Centerline is valid? [True, True] Translation: X:-125.96, Y:15.76, Z:-8.22 [[ 9.63278157e-01 2.43372294e-01 -1.13424508e-01 -1.25960873e+02] [-2.41484687e-01 9.69931274e-01 3.03062831e-02 1.57629999e+01] [ 1.17389687e-01 -1.80309877e-03 9.93084292e-01 -8.22311709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43534706999998 meters 0.019044060969202622 Centerline is valid? [True, True] Translation: X:-126.02, Y:15.78, Z:-8.23 [[ 9.62332811e-01 2.48056945e-01 -1.11280336e-01 -1.26016113e+02] [-2.46270673e-01 9.68744691e-01 2.97402064e-02 1.57847556e+01] [ 1.15179499e-01 -1.21489331e-03 9.93343952e-01 -8.23240961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49534706999998 meters 0.01866806254435834 Centerline is valid? [True, True] Translation: X:-126.07, Y:15.81, Z:-8.24 [[ 9.61186127e-01 2.53249395e-01 -1.09480474e-01 -1.26071130e+02] [-2.51551429e-01 9.67400835e-01 2.92831423e-02 1.58057229e+01] [ 1.13327440e-01 -6.06580490e-04 9.93557509e-01 -8.23868118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55534706999998 meters 0.018422661862042004 Centerline is valid? [True, True] Translation: X:-126.13, Y:15.83, Z:-8.25 [[ 9.60048845e-01 2.59448764e-01 -1.04845387e-01 -1.26125326e+02] [-2.57925449e-01 9.65756869e-01 2.80736897e-02 1.58303320e+01] [ 1.08538837e-01 9.01800661e-05 9.94092205e-01 -8.25191797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61534706999998 meters 0.018903564710071763 Centerline is valid? [True, True] Translation: X:-126.18, Y:15.86, Z:-8.26 [[ 9.58700435e-01 2.66325500e-01 -9.98208605e-02 -1.26179350e+02] [-2.64981348e-01 9.63882803e-01 2.67362538e-02 1.58566998e+01] [ 1.03336157e-01 8.18607994e-04 9.94646152e-01 -8.26052656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67534707 meters 0.019787144278992322 Centerline is valid? [True, True] Translation: X:-126.23, Y:15.88, Z:-8.27 [[ 9.58456379e-01 2.67335960e-01 -9.94628281e-02 -1.26233158e+02] [-2.66004591e-01 9.63602963e-01 2.66624784e-02 1.58762344e+01] [ 1.02970515e-01 9.02746371e-04 9.94683999e-01 -8.27086057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73534707 meters 0.019927913715683844 Centerline is valid? [True, True] Translation: X:-126.29, Y:15.89, Z:-8.28 [[ 9.59496342e-01 2.64719138e-01 -9.63874894e-02 -1.26289236e+02] [-2.63451293e-01 9.64325394e-01 2.58833895e-02 1.58930517e+01] [ 9.98007323e-02 5.58391184e-04 9.95007287e-01 -8.27832407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79534707 meters 0.019895223834899698 Centerline is valid? [True, True] Translation: X:-126.35, Y:15.91, Z:-8.29 [[ 9.61511309e-01 2.59438382e-01 -9.04860626e-02 -1.26346614e+02] [-2.58295381e-01 9.65759662e-01 2.43263350e-02 1.59073978e+01] [ 9.36989743e-02 -1.79141619e-05 9.95600573e-01 -8.28688244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85534707 meters 0.020680145908772075 Centerline is valid? [True, True] Translation: X:-126.40, Y:15.92, Z:-8.30 [[ 9.63095951e-01 2.54952473e-01 -8.62868872e-02 -1.26403128e+02] [-2.53894051e-01 9.66953482e-01 2.32115056e-02 1.59205216e+01] [ 8.93532367e-02 -4.47179695e-04 9.95999899e-01 -8.29651725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91534707 meters 0.021463518136666096 Centerline is valid? [True, True] Translation: X:-126.46, Y:15.93, Z:-8.31 [[ 9.64900922e-01 2.49915202e-01 -8.06759113e-02 -1.26460055e+02] [-2.48969717e-01 9.68267320e-01 2.17365256e-02 1.59342090e+01] [ 8.35481366e-02 -8.87734848e-04 9.96503347e-01 -8.30803237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97534707 meters 0.021919306864308687 Centerline is valid? [True, True] Translation: X:-126.52, Y:15.95, Z:-8.32 [[ 9.66808615e-01 2.44155230e-01 -7.52949310e-02 -1.26516033e+02] [-2.43311807e-01 9.69735256e-01 2.03198744e-02 1.59476152e+01] [ 7.79773529e-02 -1.32528391e-03 9.96954250e-01 -8.31836045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03534706999997 meters 0.023422717355197745 Centerline is valid? [True, True] Translation: X:-126.57, Y:15.96, Z:-8.32 [[ 9.68820358e-01 2.37814473e-01 -6.95082108e-02 -1.26572962e+02] [-2.37077161e-01 9.71309062e-01 1.87916302e-02 1.59602225e+01] [ 7.19828767e-02 -1.72690464e-03 9.97404373e-01 -8.32460662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09534706999997 meters 0.024112439495876783 Centerline is valid? [True, True] Translation: X:-126.63, Y:15.97, Z:-8.34 [[ 9.70778982e-01 2.31060453e-01 -6.48015066e-02 -1.26629660e+02] [-2.30402883e-01 9.72937123e-01 1.75461391e-02 1.59741538e+01] [ 6.71020102e-02 -2.10296912e-03 9.97743904e-01 -8.33542798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15534706999998 meters 0.025346768805306442 Centerline is valid? [True, True] Translation: X:-126.69, Y:15.99, Z:-8.34 [[ 9.72000231e-01 2.26685071e-01 -6.18823760e-02 -1.26686732e+02] [-2.26076131e-01 9.73965385e-01 1.67634375e-02 1.59872965e+01] [ 6.40713132e-02 -2.30393703e-03 9.97942663e-01 -8.34319061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21534706999998 meters 0.026348069291494053 Centerline is valid? [True, True] Translation: X:-126.74, Y:16.00, Z:-8.35 [[ 9.73217162e-01 2.22425606e-01 -5.80965129e-02 -1.26743748e+02] [-2.21880958e-01 9.74946630e-01 1.57451467e-02 1.60021083e+01] [ 6.01431233e-02 -2.43293707e-03 9.98186799e-01 -8.34687008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27534706999998 meters 0.026591125333844896 Centerline is valid? [True, True] Translation: X:-126.80, Y:16.02, Z:-8.35 [[ 9.73878577e-01 2.20146144e-01 -5.56434348e-02 -1.26799892e+02] [-2.19642596e-01 9.75463776e-01 1.50848100e-02 1.60180719e+01] [ 5.75990178e-02 -2.46910483e-03 9.98336745e-01 -8.35195175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33534706999998 meters 0.027109333499501315 Centerline is valid? [True, True] Translation: X:-126.86, Y:16.03, Z:-8.36 [[ 9.74097248e-01 2.19575066e-01 -5.40494456e-02 -1.26856931e+02] [-2.19097758e-01 9.75592521e-01 1.46767209e-02 1.60332501e+01] [ 5.59528768e-02 -2.45444105e-03 9.98430394e-01 -8.35657485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39534706999999 meters 0.028176613760297998 Centerline is valid? [True, True] Translation: X:-126.91, Y:16.05, Z:-8.36 [[ 9.73992547e-01 2.19936931e-01 -5.44634266e-02 -1.26912572e+02] [-2.19451363e-01 9.75510946e-01 1.48152886e-02 1.60482802e+01] [ 5.63880980e-02 -2.47790743e-03 9.98405851e-01 -8.35886494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45534707 meters 0.026961985539935285 Centerline is valid? [True, True] Translation: X:-126.97, Y:16.07, Z:-8.36 [[ 9.73661940e-01 2.20951029e-01 -5.62411694e-02 -1.26966623e+02] [-2.20432914e-01 9.75281617e-01 1.53328759e-02 1.60691605e+01] [ 5.82387934e-02 -2.53163282e-03 9.98299471e-01 -8.36074708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51534707 meters 0.02707683302185457 Centerline is valid? [True, True] Translation: X:-127.02, Y:16.09, Z:-8.36 [[ 9.73507924e-01 2.21500948e-01 -5.67419682e-02 -1.27021669e+02] [-2.20974088e-01 9.75156880e-01 1.54761578e-02 1.60858417e+01] [ 5.87603043e-02 -2.52765762e-03 9.98268920e-01 -8.36349603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57534707 meters 0.026795337012595042 Centerline is valid? [True, True] Translation: X:-127.08, Y:16.10, Z:-8.37 [[ 9.73061595e-01 2.23005540e-01 -5.84778686e-02 -1.27077576e+02] [-2.22446654e-01 9.74813859e-01 1.59820317e-02 1.61047640e+01] [ 6.05691184e-02 -2.54329503e-03 9.98160765e-01 -8.36610574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63534707 meters 0.02493338677185754 Centerline is valid? [True, True] Translation: X:-127.13, Y:16.13, Z:-8.37 [[ 9.72073611e-01 2.26886049e-01 -5.99634503e-02 -1.27131837e+02] [-2.26303863e-01 9.73918380e-01 1.64179962e-02 1.61303376e+01] [ 6.21245207e-02 -2.38954041e-03 9.98065546e-01 -8.37126398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69534707 meters 0.023119459243896523 Centerline is valid? [True, True] Translation: X:-127.19, Y:16.15, Z:-8.37 [[ 9.70857144e-01 2.32015578e-01 -6.00431356e-02 -1.27185304e+02] [-2.31441252e-01 9.72709868e-01 1.64456668e-02 1.61549839e+01] [ 6.22202013e-02 -2.06993466e-03 9.98060300e-01 -8.37434020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75534707 meters 0.022329745496058404 Centerline is valid? [True, True] Translation: X:-127.24, Y:16.18, Z:-8.38 [[ 9.69447719e-01 2.37169596e-01 -6.26235076e-02 -1.27240253e+02] [-2.36554951e-01 9.71466552e-01 1.71608298e-02 1.61766326e+01] [ 6.49066700e-02 -1.82262651e-03 9.97889674e-01 -8.37646225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81534706999997 meters 0.022009560676780542 Centerline is valid? [True, True] Translation: X:-127.29, Y:16.20, Z:-8.38 [[ 9.69120267e-01 2.37973996e-01 -6.46087033e-02 -1.27294999e+02] [-2.37319324e-01 9.71269752e-01 1.77372019e-02 1.61957643e+01] [ 6.69734720e-02 -1.85658804e-03 9.97753029e-01 -8.37843184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87534706999998 meters 0.02380492843474722 Centerline is valid? [True, True] Translation: X:-127.35, Y:16.21, Z:-8.38 [[ 9.70532495e-01 2.31782477e-01 -6.59056790e-02 -1.27352769e+02] [-2.31084575e-01 9.72764768e-01 1.81280146e-02 1.62106721e+01] [ 6.83124787e-02 -2.36404141e-03 9.97661173e-01 -8.37793703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93534706999998 meters 0.025030365999260784 Centerline is valid? [True, True] Translation: X:-127.41, Y:16.22, Z:-8.38 [[ 9.72199525e-01 2.24690042e-01 -6.58974167e-02 -1.27409818e+02] [-2.23975743e-01 9.74426071e-01 1.81300469e-02 1.62240566e+01] [ 6.82858019e-02 -2.86660011e-03 9.97661682e-01 -8.37839037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99534706999998 meters 0.027658116020757628 Centerline is valid? [True, True] Translation: X:-127.47, Y:16.23, Z:-8.38 [[ 9.73904961e-01 2.17165071e-01 -6.59428377e-02 -1.27469117e+02] [-2.16432274e-01 9.76128969e-01 1.81468030e-02 1.62347535e+01] [ 6.83095660e-02 -3.40110313e-03 9.97658376e-01 -8.37834430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05534706999998 meters 0.030273895678018265 Centerline is valid? [True, True] Translation: X:-127.53, Y:16.25, Z:-8.38 [[ 9.75186043e-01 2.10961401e-01 -6.71376934e-02 -1.27528500e+02] [-2.10186939e-01 9.77486580e-01 1.84779747e-02 1.62459941e+01] [ 6.95243338e-02 -3.90799675e-03 9.97572601e-01 -8.37735066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11534706999998 meters 0.030793161059117224 Centerline is valid? [True, True] Translation: X:-127.58, Y:16.26, Z:-8.38 [[ 9.75113999e-01 2.11330979e-01 -6.70216854e-02 -1.27583436e+02] [-2.10559777e-01 9.77406861e-01 1.84501732e-02 1.62644298e+01] [ 6.94065483e-02 -3.87895096e-03 9.97580916e-01 -8.37527169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17534707 meters 0.029292462508921962 Centerline is valid? [True, True] Translation: X:-127.64, Y:16.29, Z:-8.38 [[ 9.73348895e-01 2.19344557e-01 -6.69320147e-02 -1.27639357e+02] [-2.18591894e-01 9.75641754e-01 1.84594725e-02 1.62899530e+01] [ 6.93506530e-02 -3.33671128e-03 9.97586765e-01 -8.37531218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23534707 meters 0.025812044376721632 Centerline is valid? [True, True] Translation: X:-127.69, Y:16.32, Z:-8.37 [[ 9.71862155e-01 2.25566707e-01 -6.78499299e-02 -1.27693518e+02] [-2.24808228e-01 9.74223307e-01 1.87138626e-02 1.63187082e+01] [ 7.03222074e-02 -2.93407237e-03 9.97520014e-01 -8.37185810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29534707 meters 0.026429386316628063 Centerline is valid? [True, True] Translation: X:-127.75, Y:16.34, Z:-8.37 [[ 9.72070197e-01 2.24299759e-01 -6.90590397e-02 -1.27749089e+02] [-2.23510427e-01 9.74515317e-01 1.90521892e-02 1.63382604e+01] [ 7.15724935e-02 -3.08464987e-03 9.97430631e-01 -8.37103154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35534707 meters 0.027504162107430685 Centerline is valid? [True, True] Translation: X:-127.81, Y:16.36, Z:-8.37 [[ 9.73136681e-01 2.18859819e-01 -7.14519401e-02 -1.27806256e+02] [-2.17997758e-01 9.75749532e-01 1.97440585e-02 1.63555043e+01] [ 7.40403782e-02 -3.63730480e-03 9.97248611e-01 -8.37086971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41534707 meters 0.028395934662693405 Centerline is valid? [True, True] Translation: X:-127.86, Y:16.37, Z:-8.37 [[ 9.73499066e-01 2.17141623e-01 -7.17571231e-02 -1.27863005e+02] [-2.16266919e-01 9.76132745e-01 1.98364276e-02 1.63734529e+01] [ 7.43517916e-02 -3.79205181e-03 9.97224865e-01 -8.37001314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47534707 meters 0.027862626737832602 Centerline is valid? [True, True] Translation: X:-127.92, Y:16.40, Z:-8.37 [[ 9.72858763e-01 2.19581648e-01 -7.30049781e-02 -1.27918207e+02] [-2.18680513e-01 9.75587106e-01 2.02146656e-02 1.63969030e+01] [ 7.56614849e-02 -3.70124856e-03 9.97126692e-01 -8.36726681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53534706999997 meters 0.02573544653869899 Centerline is valid? [True, True] Translation: X:-127.97, Y:16.43, Z:-8.36 [[ 9.70196206e-01 2.30317713e-01 -7.53198079e-02 -1.27971185e+02] [-2.29388167e-01 9.73110905e-01 2.08862488e-02 1.64317826e+01] [ 7.81049995e-02 -2.98628667e-03 9.96940666e-01 -8.36323150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59534706999997 meters 0.02163808610791971 Centerline is valid? [True, True] Translation: X:-128.02, Y:16.47, Z:-8.36 [[ 9.66162968e-01 2.46052942e-01 -7.73761498e-02 -1.28021943e+02] [-2.45121898e-01 9.69254784e-01 2.14573933e-02 1.64737485e+01] [ 8.02768581e-02 -1.76475014e-03 9.96771043e-01 -8.36054360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65534706999998 meters 0.019846378873929857 Centerline is valid? [True, True] Translation: X:-128.08, Y:16.51, Z:-8.36 [[ 9.62475848e-01 2.59487865e-01 -7.94121508e-02 -1.28075032e+02] [-2.58552543e-01 9.65746140e-01 2.20221460e-02 1.65141640e+01] [ 8.24064578e-02 -6.63570152e-04 9.96598583e-01 -8.35735580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71534706999998 meters 0.020111153643797484 Centerline is valid? [True, True] Translation: X:-128.13, Y:16.55, Z:-8.36 [[ 9.60434006e-01 2.66270972e-01 -8.16473469e-02 -1.28130031e+02] [-2.65307322e-01 9.63898212e-01 2.26331789e-02 1.65506713e+01] [ 8.47262903e-02 -7.60357040e-05 9.96404260e-01 -8.35597836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77534706999998 meters 0.019939667356052945 Centerline is valid? [True, True] Translation: X:-128.19, Y:16.59, Z:-8.35 [[ 9.59538824e-01 2.68816158e-01 -8.38040468e-02 -1.28185066e+02] [-2.67811482e-01 9.63191490e-01 2.32198947e-02 1.65866329e+01] [ 8.69612275e-02 1.63295542e-04 9.96211683e-01 -8.35214044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83534706999998 meters 0.020177404849799945 Centerline is valid? [True, True] Translation: X:-128.24, Y:16.62, Z:-8.35 [[ 9.59306881e-01 2.69160806e-01 -8.53391362e-02 -1.28241804e+02] [-2.68121842e-01 9.63095226e-01 2.36276067e-02 1.66150227e+01] [ 8.85493403e-02 2.15160668e-04 9.96071769e-01 -8.35066958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89534706999999 meters 0.02058199665287144 Centerline is valid? [True, True] Translation: X:-128.30, Y:16.64, Z:-8.35 [[ 9.60097158e-01 2.66699879e-01 -8.41701927e-02 -1.28299655e+02] [-2.65682962e-01 9.63779629e-01 2.32677915e-02 1.66403525e+01] [ 8.73270343e-02 2.32455490e-05 9.96179697e-01 -8.34886616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95534707 meters 0.020624695744752806 Centerline is valid? [True, True] Translation: X:-128.36, Y:16.66, Z:-8.34 [[ 9.61115804e-01 2.62955985e-01 -8.43241409e-02 -1.28359157e+02] [-2.61924231e-01 9.64807790e-01 2.32728694e-02 1.66642923e+01] [ 8.74763283e-02 -2.81386857e-04 9.96166559e-01 -8.34498673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01534707 meters 0.02049901164955054 Centerline is valid? [True, True] Translation: X:-128.42, Y:16.69, Z:-8.35 [[ 9.62110689e-01 2.59317587e-01 -8.42461313e-02 -1.28418036e+02] [-2.58277289e-01 9.65791934e-01 2.32116755e-02 1.66870604e+01] [ 8.73834298e-02 -5.73338755e-04 9.96174587e-01 -8.34503405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07534707 meters 0.02066151917877581 Centerline is valid? [True, True] Translation: X:-128.48, Y:16.71, Z:-8.34 [[ 9.63644111e-01 2.53776182e-01 -8.35923256e-02 -1.28476783e+02] [-2.52734231e-01 9.67262416e-01 2.29962367e-02 1.67114604e+01] [ 8.66916119e-02 -1.03354594e-03 9.96234659e-01 -8.33912063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13534707 meters 0.021085011149305367 Centerline is valid? [True, True] Translation: X:-128.54, Y:16.73, Z:-8.34 [[ 9.64259366e-01 2.51895521e-01 -8.21737248e-02 -1.28535050e+02] [-2.50884341e-01 9.67753747e-01 2.25772705e-02 1.67343657e+01] [ 8.52110434e-02 -1.15424375e-03 9.96362256e-01 -8.33603674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19534707 meters 0.02178281653757236 Centerline is valid? [True, True] Translation: X:-128.59, Y:16.76, Z:-8.33 [[ 9.65361681e-01 2.48286830e-01 -8.01902392e-02 -1.28593551e+02] [-2.47312326e-01 9.68685507e-01 2.20227715e-02 1.67572652e+01] [ 8.31470866e-02 -1.42790511e-03 9.96536263e-01 -8.33178758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25534707 meters 0.02170562853087046 Centerline is valid? [True, True] Translation: X:-128.65, Y:16.78, Z:-8.33 [[ 9.66043284e-01 2.46550533e-01 -7.72865327e-02 -1.28652256e+02] [-2.45640939e-01 9.69128765e-01 2.12124127e-02 1.67797470e+01] [ 8.01305336e-02 -1.50737238e-03 9.96783239e-01 -8.33062484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31534706999997 meters 0.021298305226227547 Centerline is valid? [True, True] Translation: X:-128.71, Y:16.81, Z:-8.33 [[ 9.65410674e-01 2.48448073e-01 -7.90935198e-02 -1.28709484e+02] [-2.47504450e-01 9.68644276e-01 2.16751666e-02 1.68098007e+01] [ 8.19986386e-02 -1.34943910e-03 9.96631528e-01 -8.32518475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37534706999998 meters 0.021232131617924 Centerline is valid? [True, True] Translation: X:-128.77, Y:16.84, Z:-8.32 [[ 9.65329428e-01 2.49534233e-01 -7.66274270e-02 -1.28766775e+02] [-2.48654815e-01 9.68365254e-01 2.09647005e-02 1.68372664e+01] [ 7.94347483e-02 -1.18406369e-03 9.96839365e-01 -8.32321773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43534706999998 meters 0.020601227009634595 Centerline is valid? [True, True] Translation: X:-128.82, Y:16.86, Z:-8.32 [[ 9.64910657e-01 2.51312957e-01 -7.60869325e-02 -1.28824663e+02] [-2.50453953e-01 9.67905367e-01 2.07850696e-02 1.68626971e+01] [ 7.88685075e-02 -9.99462156e-04 9.96884527e-01 -8.32285573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49534706999998 meters 0.02056077713436088 Centerline is valid? [True, True] Translation: X:-128.88, Y:16.89, Z:-8.32 [[ 9.64067990e-01 2.54879246e-01 -7.48964645e-02 -1.28881322e+02] [-2.54060019e-01 9.66972660e-01 2.04299348e-02 1.68925072e+01] [ 7.76299999e-02 -6.67648919e-04 9.96982015e-01 -8.31985261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55534706999998 meters 0.02025338427239545 Centerline is valid? [True, True] Translation: X:-128.94, Y:16.92, Z:-8.31 [[ 9.64285615e-01 2.54311155e-01 -7.40208744e-02 -1.28937944e+02] [-2.53511677e-01 9.67122216e-01 2.01605799e-02 1.69248765e+01] [ 7.67142925e-02 -6.75401144e-04 9.97052888e-01 -8.31470258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61534706999998 meters 0.020357074081640798 Centerline is valid? [True, True] Translation: X:-129.00, Y:16.95, Z:-8.32 [[ 9.64544736e-01 2.53400893e-01 -7.37661223e-02 -1.28995307e+02] [-2.52606949e-01 9.67361092e-01 2.00561118e-02 1.69532745e+01] [ 7.64407132e-02 -7.11181944e-04 9.97073875e-01 -8.31644927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67534707 meters 0.019403350582136394 Centerline is valid? [True, True] Translation: X:-129.05, Y:16.98, Z:-8.31 [[ 9.63161880e-01 2.58629325e-01 -7.36889777e-02 -1.29050261e+02] [-2.57854684e-01 9.65976605e-01 2.00040178e-02 1.69836848e+01] [ 7.63554541e-02 -2.66059283e-04 9.97080626e-01 -8.31409995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73534707 meters 0.019663083791561616 Centerline is valid? [True, True] Translation: X:-129.11, Y:17.01, Z:-8.31 [[ 9.63348949e-01 2.58287621e-01 -7.24313918e-02 -1.29108097e+02] [-2.57538862e-01 9.66068024e-01 1.96547320e-02 1.70123118e+01] [ 7.50502255e-02 -2.80467181e-04 9.97179716e-01 -8.31281889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79534707 meters 0.01952710125926198 Centerline is valid? [True, True] Translation: X:-129.16, Y:17.04, Z:-8.31 [[ 9.63134925e-01 2.59179820e-01 -7.20897881e-02 -1.29164550e+02] [-2.58443145e-01 9.65829069e-01 1.95282136e-02 1.70407117e+01] [ 7.46877318e-02 -1.77192945e-04 9.97206955e-01 -8.31319322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85534707 meters 0.019686509995728487 Centerline is valid? [True, True] Translation: X:-129.22, Y:17.07, Z:-8.31 [[ 9.63766820e-01 2.56949306e-01 -7.16280027e-02 -1.29222021e+02] [-2.56218197e-01 9.66424831e-01 1.93722036e-02 1.70696388e+01] [ 7.42007546e-02 -3.17889393e-04 9.97243274e-01 -8.31393187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91534707 meters 0.019435329908836653 Centerline is valid? [True, True] Translation: X:-129.28, Y:17.09, Z:-8.31 [[ 9.64715506e-01 2.52989330e-01 -7.29410093e-02 -1.29278728e+02] [-2.52222379e-01 9.67468882e-01 1.96935062e-02 1.70943177e+01] [ 7.55504036e-02 -6.01276006e-04 9.97141803e-01 -8.31369705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97534707 meters 0.019182529299140775 Centerline is valid? [True, True] Translation: X:-129.33, Y:17.12, Z:-8.31 [[ 9.64732550e-01 2.53158232e-01 -7.21250026e-02 -1.29334584e+02] [-2.52410731e-01 9.67424725e-01 1.94479705e-02 1.71241453e+01] [ 7.46989246e-02 -5.56965511e-04 9.97205977e-01 -8.31251241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03534706999997 meters 0.01962986677615441 Centerline is valid? [True, True] Translation: X:-129.39, Y:17.15, Z:-8.31 [[ 9.65566441e-01 2.50110875e-01 -7.15960805e-02 -1.29392456e+02] [-2.49367272e-01 9.68216896e-01 1.92874463e-02 1.71498382e+01] [ 7.41445349e-02 -7.69591600e-04 9.97247209e-01 -8.31457357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09534706999997 meters 0.019328990763552354 Centerline is valid? [True, True] Translation: X:-129.45, Y:17.18, Z:-8.32 [[ 9.65554987e-01 2.50328923e-01 -7.09858919e-02 -1.29449120e+02] [-2.49600748e-01 9.68160583e-01 1.90932212e-02 1.71796482e+01] [ 7.35053280e-02 -7.17423199e-04 9.97294566e-01 -8.31502006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15534706999998 meters 0.01869849088211584 Centerline is valid? [True, True] Translation: X:-129.51, Y:17.21, Z:-8.32 [[ 9.64348306e-01 2.55195773e-01 -7.00532777e-02 -1.29505190e+02] [-2.54501571e-01 9.66889352e-01 1.88130640e-02 1.72100353e+01] [ 7.25347827e-02 -3.13677164e-04 9.97365834e-01 -8.31687423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21534706999998 meters 0.01878288104877369 Centerline is valid? [True, True] Translation: X:-129.56, Y:17.24, Z:-8.32 [[ 9.62924083e-01 2.60517025e-01 -7.00577617e-02 -1.29561254e+02] [-2.59838872e-01 9.65469247e-01 1.87854751e-02 1.72429226e+01] [ 7.25325505e-02 1.14743405e-04 9.97366039e-01 -8.31988433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27534706999998 meters 0.0193309083201576 Centerline is valid? [True, True] Translation: X:-129.61, Y:17.28, Z:-8.32 [[ 9.60388643e-01 2.69957885e-01 -6.91114715e-02 -1.29613239e+02] [-2.69324459e-01 9.62871760e-01 1.85015971e-02 1.72848495e+01] [ 7.15401362e-02 8.44685919e-04 9.97437364e-01 -8.32085195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33534706999998 meters 0.019819295088345963 Centerline is valid? [True, True] Translation: X:-129.67, Y:17.32, Z:-8.32 [[ 9.58495776e-01 2.76429276e-01 -6.98047472e-02 -1.29667893e+02] [-2.75801977e-01 9.61033295e-01 1.86621597e-02 1.73202397e+01] [ 7.22434534e-02 1.36468607e-03 9.97386094e-01 -8.32436565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39534706999999 meters 0.02079384448543215 Centerline is valid? [True, True] Translation: X:-129.72, Y:17.35, Z:-8.33 [[ 9.58476750e-01 2.75950644e-01 -7.19274709e-02 -1.29723668e+02] [-2.75285360e-01 9.61170792e-01 1.92010232e-02 1.73510138e+01] [ 7.44331189e-02 1.39684544e-03 9.97225030e-01 -8.32779691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45534707 meters 0.01877386028044369 Centerline is valid? [True, True] Translation: X:-129.78, Y:17.37, Z:-8.33 [[ 9.62947240e-01 2.60991313e-01 -6.79422374e-02 -1.29781695e+02] [-2.60362073e-01 9.65341118e-01 1.81140081e-02 1.73716549e+01] [ 7.03150341e-02 2.46747676e-04 9.97524804e-01 -8.32977774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51534707 meters 0.018874118803867933 Centerline is valid? [True, True] Translation: X:-129.84, Y:17.39, Z:-8.34 [[ 9.65037153e-01 2.50302058e-01 -7.77957152e-02 -1.29840775e+02] [-2.49442346e-01 9.68167606e-01 2.07365223e-02 1.73851462e+01] [ 8.05096855e-02 -6.05968668e-04 9.96753642e-01 -8.33916395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57534707 meters 0.01983827135179436 Centerline is valid? [True, True] Translation: X:-129.90, Y:17.40, Z:-8.34 [[ 9.66235856e-01 2.45702278e-01 -7.75800337e-02 -1.29900747e+02] [-2.44833160e-01 9.69344847e-01 2.06710273e-02 1.74038878e+01] [ 8.02807243e-02 -9.78922930e-04 9.96771813e-01 -8.33555954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63534707 meters 0.018597655169565613 Centerline is valid? [True, True] Translation: X:-129.96, Y:17.43, Z:-8.33 [[ 9.66043368e-01 2.47753009e-01 -7.33393346e-02 -1.29958008e+02] [-2.46984196e-01 9.68822945e-01 1.95168898e-02 1.74333128e+01] [ 7.58881983e-02 -7.40505379e-04 9.97116058e-01 -8.32997459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69534707 meters 0.018426545015969503 Centerline is valid? [True, True] Translation: X:-130.02, Y:17.46, Z:-8.34 [[ 9.64905321e-01 2.51349602e-01 -7.60335385e-02 -1.30016070e+02] [-2.50536481e-01 9.67896263e-01 2.02063082e-02 1.74607735e+01] [ 7.86714253e-02 -4.47999121e-04 9.96900500e-01 -8.33724853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75534707 meters 0.018264934643837306 Centerline is valid? [True, True] Translation: X:-130.07, Y:17.49, Z:-8.34 [[ 9.64649461e-01 2.51449548e-01 -7.88957690e-02 -1.30073438e+02] [-2.50576794e-01 9.67870313e-01 2.09362762e-02 1.74854048e+01] [ 8.16252898e-02 -4.26718674e-04 9.96662997e-01 -8.34232059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81534706999997 meters 0.018482301866368372 Centerline is valid? [True, True] Translation: X:-130.13, Y:17.51, Z:-8.35 [[ 9.63915586e-01 2.52578214e-01 -8.40891750e-02 -1.30131303e+02] [-2.51593239e-01 9.67576425e-01 2.22868392e-02 1.75086331e+01] [ 8.69918734e-02 -3.26363853e-04 9.96208968e-01 -8.34896027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87534706999998 meters 0.01870765297170254 Centerline is valid? [True, True] Translation: X:-130.19, Y:17.53, Z:-8.35 [[ 9.62274537e-01 2.58894776e-01 -8.36732328e-02 -1.30190291e+02] [-2.57945692e-01 9.65905494e-01 2.21494261e-02 1.75348092e+01] [ 8.65548059e-02 2.69321194e-04 9.96247054e-01 -8.34727944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93534706999998 meters 0.019582425043116854 Centerline is valid? [True, True] Translation: X:-130.25, Y:17.56, Z:-8.35 [[ 9.61065040e-01 2.64407276e-01 -8.02669351e-02 -1.30248105e+02] [-2.63555485e-01 9.64410812e-01 2.12201084e-02 1.75613976e+01] [ 8.30210510e-02 7.60886684e-04 9.96547503e-01 -8.34558742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99534706999998 meters 0.019840325539556187 Centerline is valid? [True, True] Translation: X:-130.31, Y:17.58, Z:-8.36 [[ 9.61091641e-01 2.62988780e-01 -8.44971015e-02 -1.30307046e+02] [-2.62041684e-01 9.64798638e-01 2.23101689e-02 1.75794368e+01] [ 8.73900126e-02 6.99645930e-04 9.96173929e-01 -8.35569040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05534706999998 meters 0.020335895820037336 Centerline is valid? [True, True] Translation: X:-130.37, Y:17.59, Z:-8.37 [[ 9.61900586e-01 2.57231306e-01 -9.26246126e-02 -1.30366936e+02] [-2.56068484e-01 9.66349837e-01 2.44320168e-02 1.75914791e+01] [ 9.57924589e-02 2.17072886e-04 9.95401305e-01 -8.37138489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11534706999998 meters 0.01975378210643014 Centerline is valid? [True, True] Translation: X:-130.43, Y:17.61, Z:-8.37 [[ 9.62651770e-01 2.55569360e-01 -8.93637081e-02 -1.30427103e+02] [-2.54480597e-01 9.66790722e-01 2.35653698e-02 1.76073947e+01] [ 9.24185903e-02 5.60848828e-05 9.95720242e-01 -8.37255769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17534707 meters 0.01954873724694982 Centerline is valid? [True, True] Translation: X:-130.49, Y:17.62, Z:-8.38 [[ 9.63989317e-01 2.50528670e-01 -8.92187299e-02 -1.30486789e+02] [-2.49423199e-01 9.68109092e-01 2.35128227e-02 1.76243666e+01] [ 9.22640999e-02 -4.12888888e-04 9.95734485e-01 -8.37534717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23534707 meters 0.01953061485307695 Centerline is valid? [True, True] Translation: X:-130.55, Y:17.63, Z:-8.37 [[ 9.64959041e-01 2.46955998e-01 -8.86948959e-02 -1.30548191e+02] [-2.45851196e-01 9.69026427e-01 2.33446795e-02 1.76347404e+01] [ 9.17128066e-02 -7.20913315e-04 9.95785239e-01 -8.37324982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29534707 meters 0.019541309480761642 Centerline is valid? [True, True] Translation: X:-130.61, Y:17.65, Z:-8.37 [[ 9.65705428e-01 2.43863133e-01 -8.91279945e-02 -1.30609099e+02] [-2.42737152e-01 9.69809152e-01 2.34282505e-02 1.76463812e+01] [ 9.21504314e-02 -9.90113164e-04 9.95744605e-01 -8.37136513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35534707 meters 0.01881463774147352 Centerline is valid? [True, True] Translation: X:-130.67, Y:17.66, Z:-8.38 [[ 9.66544690e-01 2.39970529e-01 -9.05842532e-02 -1.30668597e+02] [-2.38793120e-01 9.70779229e-01 2.37809805e-02 1.76627652e+01] [ 9.36440460e-02 -1.35448398e-03 9.95604820e-01 -8.37704024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41534707 meters 0.020274019944150543 Centerline is valid? [True, True] Translation: X:-130.73, Y:17.68, Z:-8.38 [[ 9.66591281e-01 2.39961994e-01 -9.01084769e-02 -1.30729141e+02] [-2.38800021e-01 9.70781392e-01 2.36228566e-02 1.76786193e+01] [ 9.31442203e-02 -1.31574098e-03 9.95651758e-01 -8.37664726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47534707 meters 0.019853242967500347 Centerline is valid? [True, True] Translation: X:-130.79, Y:17.70, Z:-8.37 [[ 9.66661047e-01 2.40827226e-01 -8.69980848e-02 -1.30786789e+02] [-2.39749945e-01 9.70567302e-01 2.27832364e-02 1.76996306e+01] [ 8.99243201e-02 -1.16588112e-03 9.95947919e-01 -8.37445662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53534706999997 meters 0.022933223291052983 Centerline is valid? [True, True] Translation: X:-130.85, Y:17.72, Z:-8.38 [[ 9.67180690e-01 2.38617694e-01 -8.73104243e-02 -1.30846567e+02] [-2.37524246e-01 9.71112619e-01 2.28585471e-02 1.77190474e+01] [ 9.02427086e-02 -1.37000269e-03 9.95918860e-01 -8.37614433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59534706999997 meters 0.022473302759717973 Centerline is valid? [True, True] Translation: X:-130.91, Y:17.73, Z:-8.37 [[ 9.68048891e-01 2.35194041e-01 -8.69776289e-02 -1.30908471e+02] [-2.34096801e-01 9.71947011e-01 2.27529354e-02 1.77303745e+01] [ 8.98890012e-02 -1.66476919e-03 9.95950398e-01 -8.37471976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65534706999998 meters 0.021834100450061403 Centerline is valid? [True, True] Translation: X:-130.97, Y:17.75, Z:-8.38 [[ 9.68455583e-01 2.32176641e-01 -9.04864164e-02 -1.30965025e+02] [-2.30978368e-01 9.72671590e-01 2.36425820e-02 1.77532574e+01] [ 9.35028218e-02 -1.99638576e-03 9.95617013e-01 -8.37884266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71534706999998 meters 0.022441642034705393 Centerline is valid? [True, True] Translation: X:-131.02, Y:17.78, Z:-8.38 [[ 9.68075967e-01 2.33962365e-01 -8.99473938e-02 -1.31021949e+02] [-2.32787262e-01 9.72243987e-01 2.34887232e-02 1.77813110e+01] [ 9.29462901e-02 -1.80026092e-03 9.95669496e-01 -8.38010130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77534706999998 meters 0.022047172671730602 Centerline is valid? [True, True] Translation: X:-131.08, Y:17.80, Z:-8.38 [[ 9.67952121e-01 2.34173054e-01 -9.07285631e-02 -1.31081276e+02] [-2.32981524e-01 9.72193332e-01 2.36587206e-02 1.78012330e+01] [ 9.37459389e-02 -1.76242988e-03 9.95594593e-01 -8.37679618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83534706999998 meters 0.023883974722346456 Centerline is valid? [True, True] Translation: X:-131.14, Y:17.82, Z:-8.37 [[ 9.67134982e-01 2.39488772e-01 -8.54110972e-02 -1.31140006e+02] [-2.38455834e-01 9.70898452e-01 2.22488587e-02 1.78198097e+01] [ 8.82538539e-02 -1.15087515e-03 9.96097351e-01 -8.37293484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89534706999999 meters 0.023420510085823798 Centerline is valid? [True, True] Translation: X:-131.20, Y:17.85, Z:-8.38 [[ 9.66340312e-01 2.41407746e-01 -8.89308822e-02 -1.31196974e+02] [-2.40296779e-01 9.70423252e-01 2.31553479e-02 1.78459228e+01] [ 9.18904763e-02 -1.00614163e-03 9.95768612e-01 -8.37565476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95534707 meters 0.027650697123601672 Centerline is valid? [True, True] Translation: X:-131.25, Y:17.88, Z:-8.38 [[ 9.64320953e-01 2.49942415e-01 -8.72576046e-02 -1.31252430e+02] [-2.48910058e-01 9.68260689e-01 2.26940728e-02 1.78765019e+01] [ 9.01603197e-02 -1.65074416e-04 9.95927251e-01 -8.37758495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01534707 meters 0.02519989465884787 Centerline is valid? [True, True] Translation: X:-131.31, Y:17.91, Z:-8.38 [[ 9.63153744e-01 2.54569262e-01 -8.67718614e-02 -1.31310682e+02] [-2.53569120e-01 9.67054501e-01 2.25453707e-02 1.79058229e+01] [ 8.96524775e-02 2.88006329e-04 9.95973067e-01 -8.37556965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07534707 meters 0.024878068554008242 Centerline is valid? [True, True] Translation: X:-131.37, Y:17.93, Z:-8.36 [[ 9.61097006e-01 2.62083916e-01 -8.72041596e-02 -1.31368058e+02] [-2.61107907e-01 9.65044539e-01 2.26207584e-02 1.79320634e+01] [ 9.00844350e-02 1.02895239e-03 9.95933600e-01 -8.36276606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13534707 meters 0.02537624493522016 Centerline is valid? [True, True] Translation: X:-131.43, Y:17.96, Z:-8.36 [[ 9.60180403e-01 2.65688770e-01 -8.63890713e-02 -1.31426745e+02] [-2.64747974e-01 9.64057867e-01 2.23816703e-02 1.79560595e+01] [ 8.92306223e-02 1.38089041e-03 9.96010035e-01 -8.36425427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19534707 meters 0.029253761289299473 Centerline is valid? [True, True] Translation: X:-131.49, Y:17.98, Z:-8.35 [[ 9.58498968e-01 2.72150029e-01 -8.49358000e-02 -1.31486739e+02] [-2.71267854e-01 9.62252817e-01 2.19833570e-02 1.79757945e+01] [ 8.77124841e-02 1.96932715e-03 9.96143886e-01 -8.35124850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25534707 meters 0.03220367049536464 Centerline is valid? [True, True] Translation: X:-131.55, Y:18.00, Z:-8.34 [[ 9.58079902e-01 2.73633876e-01 -8.48964291e-02 -1.31545725e+02] [-2.72761277e-01 9.61831553e-01 2.19396669e-02 1.80001142e+01] [ 8.76595004e-02 2.13650450e-03 9.96148206e-01 -8.34203006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31534706999997 meters 0.03657711408518121 Centerline is valid? [True, True] Translation: X:-131.61, Y:18.01, Z:-8.35 [[ 9.57913859e-01 2.74688033e-01 -8.33518007e-02 -1.31606755e+02] [-2.73853764e-01 9.61530831e-01 2.15075923e-02 1.80143850e+01] [ 8.60532044e-02 2.22378364e-03 9.96288061e-01 -8.34585977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37534706999998 meters 0.036723639805813967 Centerline is valid? [True, True] Translation: X:-131.66, Y:18.04, Z:-8.35 [[ 9.58433595e-01 2.73456632e-01 -8.14034075e-02 -1.31664872e+02] [-2.72659446e-01 9.61882048e-01 2.09702890e-02 1.80402595e+01] [ 8.40349409e-02 2.09677851e-03 9.96460602e-01 -8.34524328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43534706999998 meters 0.03873701405466104 Centerline is valid? [True, True] Translation: X:-131.72, Y:18.06, Z:-8.35 [[ 9.57521561e-01 2.76255369e-01 -8.26766708e-02 -1.31723882e+02] [-2.75446158e-01 9.61081246e-01 2.12662129e-02 1.80579410e+01] [ 8.53339033e-02 2.41011396e-03 9.96349495e-01 -8.34949136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49534706999998 meters 0.043255096243443 Centerline is valid? [True, True] Translation: X:-131.78, Y:18.08, Z:-8.35 [[ 9.56374370e-01 2.80166834e-01 -8.27925735e-02 -1.31782026e+02] [-2.79371892e-01 9.59947286e-01 2.12733393e-02 1.80792704e+01] [ 8.54365903e-02 2.78464147e-03 9.96339719e-01 -8.34974607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55534706999998 meters 0.038907005904701246 Centerline is valid? [True, True] Translation: X:-131.85, Y:18.09, Z:-8.33 [[ 9.55493833e-01 2.84410683e-01 -7.83715483e-02 -1.31845294e+02] [-2.83713308e-01 9.58697844e-01 2.01296544e-02 1.80873853e+01] [ 8.08597231e-02 3.00129057e-03 9.96720973e-01 -8.32668748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61534706999998 meters 0.028834273947133105 Centerline is valid? [True, True] Translation: X:-131.91, Y:18.10, Z:-8.33 [[ 9.54643366e-01 2.86633357e-01 -8.06062206e-02 -1.31905268e+02] [-2.85905270e-01 9.58034665e-01 2.06823045e-02 1.80954139e+01] [ 8.31517919e-02 3.30151851e-03 9.96531424e-01 -8.33211076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67534707 meters 0.03287564424717879 Centerline is valid? [True, True] Translation: X:-131.96, Y:18.11, Z:-8.34 [[ 9.53066866e-01 2.92125973e-01 -7.95359345e-02 -1.31964718e+02] [-2.91436391e-01 9.56372565e-01 2.04045919e-02 1.81104265e+01] [ 8.20266970e-02 3.73272527e-03 9.96623142e-01 -8.34215488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73534707 meters 0.04020417829397748 Centerline is valid? [True, True] Translation: X:-132.02, Y:18.13, Z:-8.33 [[ 9.49288475e-01 3.02487364e-01 -8.57483834e-02 -1.32023852e+02] [-3.01728280e-01 9.53140298e-01 2.19912847e-02 1.81330920e+01] [ 8.83823255e-02 4.99663918e-03 9.96074093e-01 -8.32501787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79534707 meters 0.05218681589065141 Centerline is valid? [True, True] Translation: X:-132.08, Y:18.17, Z:-8.28 [[ 9.34323759e-01 3.46393295e-01 -8.39690300e-02 -1.32080861e+02] [-3.45838675e-01 9.38046937e-01 2.15303069e-02 1.81669606e+01] [ 8.62248454e-02 8.92346084e-03 9.96235739e-01 -8.27721826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85534707 meters 0.08130991364763136 Centerline is valid? [True, True] Translation: X:-132.14, Y:18.22, Z:-8.11 [[ 9.09553905e-01 4.10772697e-01 -6.30673085e-02 -1.32142774e+02] [-4.10606888e-01 9.11669114e-01 1.61681640e-02 1.82155165e+01] [ 6.41379576e-02 1.11900546e-02 9.97878302e-01 -8.11478351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91534707 meters 0.11160390391576477 Centerline is valid? [True, False] Translation: X:-132.17, Y:18.32, Z:-8.03 [[ 9.78476421e-01 1.81485046e-01 -9.82195115e-02 -1.32172931e+02] [-1.89790754e-01 9.78304963e-01 -8.30594337e-02 1.83173764e+01] [ 8.10145904e-02 9.99128526e-02 9.91692522e-01 -8.02951764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97534707 meters 0.12612538103870247 Centerline is valid? [False, False] Translation: X:-132.16, Y:18.33, Z:-7.99 [[ 9.85618181e-01 1.30362143e-01 -1.07529126e-01 -1.32155126e+02] [-1.43613471e-01 9.81525374e-01 -1.26424327e-01 1.83283840e+01] [ 8.90616196e-02 1.40048747e-01 9.86131014e-01 -7.99040444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03534706999997 meters 0.1240991379981719 Centerline is valid? [False, False] Translation: X:-132.16, Y:18.37, Z:-7.97 [[ 9.88166205e-01 9.78147345e-02 -1.18151721e-01 -1.32161986e+02] [-1.13078350e-01 9.85008929e-01 -1.30271625e-01 1.83744548e+01] [ 1.03638016e-01 1.42090418e-01 9.84413264e-01 -7.97469654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09534706999997 meters 0.13995446355937866 Centerline is valid? [False, False] Translation: X:-132.17, Y:18.42, Z:-7.96 [[ 9.90737470e-01 5.21659253e-02 -1.25371378e-01 -1.32174008e+02] [-6.93121987e-02 9.88205307e-01 -1.36550690e-01 1.84185611e+01] [ 1.16769368e-01 1.43975651e-01 9.82667760e-01 -7.95999901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15534706999998 meters 0.1429404740084921 Centerline is valid? [False, False] Translation: X:-132.19, Y:18.44, Z:-7.98 [[ 9.92066040e-01 2.73834587e-02 -1.22699298e-01 -1.32191160e+02] [-4.26056539e-02 9.91465521e-01 -1.23210706e-01 1.84374640e+01] [ 1.18278188e-01 1.27460841e-01 9.84765964e-01 -7.98027040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21534706999998 meters 0.10082040837972195 Centerline is valid? [False, False] Translation: X:-132.22, Y:18.42, Z:-8.00 [[ 9.93165018e-01 5.62392454e-03 -1.16583096e-01 -1.32221972e+02] [-1.69690390e-02 9.95183374e-01 -9.65510450e-02 1.84202681e+01] [ 1.15478563e-01 9.78694235e-02 9.88476746e-01 -7.99677582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27534706999998 meters 0.12340876452751301 Centerline is valid? [False, False] Translation: X:-132.22, Y:18.42, Z:-8.00 [[ 9.93251818e-01 1.55014008e-03 -1.15967334e-01 -1.32219336e+02] [-1.30749332e-02 9.95032801e-01 -9.86852121e-02 1.84166288e+01] [ 1.15238325e-01 9.95355315e-02 9.88338407e-01 -8.00106943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33534706999998 meters 0.10279853005290956 Centerline is valid? [False, False] Translation: X:-132.23, Y:18.40, Z:-8.02 [[ 9.94198180e-01 7.12319013e-03 -1.07327720e-01 -1.32225898e+02] [-1.47723042e-02 9.97392252e-01 -7.06432905e-02 1.84031750e+01] [ 1.06544631e-01 7.18189085e-02 9.91710787e-01 -8.01893808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39534706999999 meters 0.06700087234786187 Centerline is valid? [False, True] Translation: X:-132.21, Y:18.45, Z:-8.04 [[ 9.93900271e-01 1.58235547e-02 -1.09141502e-01 -1.32207133e+02] [-1.76171467e-02 9.99724827e-01 -1.54889419e-02 1.84451599e+01] [ 1.08866379e-01 1.73172254e-02 9.93905541e-01 -8.04436094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45534707 meters 0.031662070445716534 Centerline is valid? [True, True] Translation: X:-132.24, Y:18.48, Z:-8.26 [[ 9.85240257e-01 -7.69670758e-02 -1.52897693e-01 -1.32241542e+02] [ 7.51345148e-02 9.97015662e-01 -1.77362477e-02 1.84808462e+01] [ 1.53806502e-01 5.98657125e-03 9.88082851e-01 -8.26022682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51534707 meters 0.03421509547785798 Centerline is valid? [True, True] Translation: X:-132.31, Y:18.49, Z:-8.23 [[ 9.86828430e-01 -6.51887256e-02 -1.48054313e-01 -1.32305790e+02] [ 6.33405677e-02 9.97844278e-01 -1.71688602e-02 1.84902298e+01] [ 1.48854365e-01 7.56487515e-03 9.88830193e-01 -8.22937310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57534707 meters 0.03172631134586768 Centerline is valid? [True, True] Translation: X:-132.37, Y:18.51, Z:-8.24 [[ 9.87243367e-01 -5.22693749e-02 -1.50394307e-01 -1.32366418e+02] [ 5.02153913e-02 9.98586387e-01 -1.74253555e-02 1.85060856e+01] [ 1.51092520e-01 9.65095766e-03 9.88472513e-01 -8.24189764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63534707 meters 0.02951568547788184 Centerline is valid? [True, True] Translation: X:-132.42, Y:18.51, Z:-8.26 [[ 9.86584723e-01 -5.29080632e-02 -1.54438732e-01 -1.32421609e+02] [ 5.07542170e-02 9.98551487e-01 -1.78587977e-02 1.85050239e+01] [ 1.55159900e-01 9.78080007e-03 9.87840949e-01 -8.26339621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69534707 meters 0.025097567380595244 Centerline is valid? [True, True] Translation: X:-132.48, Y:18.49, Z:-8.27 [[ 9.85782688e-01 -6.26454599e-02 -1.55910353e-01 -1.32478293e+02] [ 6.05732135e-02 9.98001233e-01 -1.80117675e-02 1.84919732e+01] [ 1.56727080e-01 8.31169743e-03 9.87606975e-01 -8.27493386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75534707 meters 0.02254594532147659 Centerline is valid? [True, True] Translation: X:-132.54, Y:18.48, Z:-8.28 [[ 9.84863051e-01 -6.95104940e-02 -1.58786214e-01 -1.32535924e+02] [ 6.74507858e-02 9.97554193e-01 -1.83309239e-02 1.84842808e+01] [ 1.59672046e-01 7.34319471e-03 9.87142804e-01 -8.28160936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81534706999997 meters 0.025254809358713496 Centerline is valid? [True, True] Translation: X:-132.60, Y:18.49, Z:-8.29 [[ 9.85027578e-01 -6.94053240e-02 -1.57808655e-01 -1.32595480e+02] [ 6.73739042e-02 9.97561920e-01 -1.81926308e-02 1.84915858e+01] [ 1.58686570e-01 7.28805789e-03 9.87302110e-01 -8.29044692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87534706999998 meters 0.021470017442700145 Centerline is valid? [True, True] Translation: X:-132.65, Y:18.48, Z:-8.30 [[ 9.83912963e-01 -7.79360756e-02 -1.60752138e-01 -1.32651670e+02] [ 7.59489349e-02 9.96940469e-01 -1.84786731e-02 1.84802495e+01] [ 1.61700467e-01 5.97245233e-03 9.86821812e-01 -8.30304936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93534706999998 meters 0.019957416265653144 Centerline is valid? [True, True] Translation: X:-132.71, Y:18.47, Z:-8.31 [[ 9.82474850e-01 -8.83303333e-02 -1.64136901e-01 -1.32708364e+02] [ 8.64039775e-02 9.96081779e-01 -1.88531691e-02 1.84684444e+01] [ 1.65159083e-01 4.34068340e-03 9.86257388e-01 -8.31345889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99534706999998 meters 0.01980375434776809 Centerline is valid? [True, True] Translation: X:-132.77, Y:18.46, Z:-8.32 [[ 9.82118804e-01 -9.27299847e-02 -1.63840792e-01 -1.32766342e+02] [ 9.08750147e-02 9.95684884e-01 -1.87974151e-02 1.84603713e+01] [ 1.64876884e-01 3.57226038e-03 9.86307686e-01 -8.31853518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05534706999998 meters 0.018871280707899285 Centerline is valid? [True, True] Translation: X:-132.82, Y:18.45, Z:-8.32 [[ 9.81670872e-01 -9.76477128e-02 -1.63668025e-01 -1.32824195e+02] [ 9.58736281e-02 9.95217412e-01 -1.87229962e-02 1.84536130e+01] [ 1.64713526e-01 2.68837256e-03 9.86337785e-01 -8.32257485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11534706999998 meters 0.018839682926734963 Centerline is valid? [True, True] Translation: X:-132.88, Y:18.45, Z:-8.33 [[ 9.81291575e-01 -1.00645363e-01 -1.64126038e-01 -1.32882541e+02] [ 9.89073557e-02 9.94920010e-01 -1.87485852e-02 1.84460852e+01] [ 1.65179237e-01 2.16455633e-03 9.86261190e-01 -8.32766658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17534707 meters 0.018725685918773043 Centerline is valid? [True, True] Translation: X:-132.94, Y:18.44, Z:-8.35 [[ 9.79885455e-01 -1.08811830e-01 -1.67285624e-01 -1.32937204e+02] [ 1.07132496e-01 9.94062080e-01 -1.90580581e-02 1.84384972e+01] [ 1.68366037e-01 7.52987578e-04 9.85724257e-01 -8.34785525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23534707 meters 0.019609591241929562 Centerline is valid? [True, True] Translation: X:-132.99, Y:18.43, Z:-8.38 [[ 9.78211881e-01 -1.13732536e-01 -1.73684846e-01 -1.32992590e+02] [ 1.12003437e-01 9.93511396e-01 -1.97569189e-02 1.84326975e+01] [ 1.74804879e-01 -1.26846979e-04 9.84603087e-01 -8.37704994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29534707 meters 0.02005837533359238 Centerline is valid? [True, True] Translation: X:-133.05, Y:18.42, Z:-8.40 [[ 9.76942914e-01 -1.18084434e-01 -1.77872454e-01 -1.33047919e+02] [ 1.16352506e-01 9.93003068e-01 -2.01742775e-02 1.84213482e+01] [ 1.79010160e-01 -9.86788434e-04 9.83846730e-01 -8.40291664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35534707 meters 0.021595041609059427 Centerline is valid? [True, True] Translation: X:-133.10, Y:18.41, Z:-8.42 [[ 9.75230725e-01 -1.25095692e-01 -1.82417380e-01 -1.33103656e+02] [ 1.23405681e-01 9.92141802e-01 -2.06321008e-02 1.84080090e+01] [ 1.83564895e-01 -2.39028232e-03 9.83004688e-01 -8.42303955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41534707 meters 0.022673871548517018 Centerline is valid? [True, True] Translation: X:-133.16, Y:18.39, Z:-8.43 [[ 9.74693472e-01 -1.31306968e-01 -1.80917428e-01 -1.33160153e+02] [ 1.29760509e-01 9.91335284e-01 -2.04099172e-02 1.83923539e+01] [ 1.82029794e-01 -3.58252447e-03 9.83286489e-01 -8.43046910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47534707 meters 0.02313443812318233 Centerline is valid? [True, True] Translation: X:-133.22, Y:18.38, Z:-8.43 [[ 9.74060920e-01 -1.38237636e-01 -1.79152672e-01 -1.33218533e+02] [ 1.36847347e-01 9.90387053e-01 -2.01566204e-02 1.83817013e+01] [ 1.80216891e-01 -4.88279181e-03 9.83614778e-01 -8.42673570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53534706999997 meters 0.02105859554270068 Centerline is valid? [True, True] Translation: X:-133.28, Y:18.38, Z:-8.42 [[ 9.76039844e-01 -1.29834902e-01 -1.74611342e-01 -1.33279360e+02] [ 1.28390189e-01 9.91530154e-01 -1.95936879e-02 1.83793617e+01] [ 1.75676355e-01 -3.29416316e-03 9.84442465e-01 -8.41980726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59534706999997 meters 0.02080410184450065 Centerline is valid? [True, True] Translation: X:-133.34, Y:18.38, Z:-8.44 [[ 9.75300845e-01 -1.23712915e-01 -1.82984633e-01 -1.33336643e+02] [ 1.22027757e-01 9.92315268e-01 -2.04849993e-02 1.83813638e+01] [ 1.84112704e-01 -2.35016722e-03 9.82902329e-01 -8.44481964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65534706999998 meters 0.02246862506953975 Centerline is valid? [True, True] Translation: X:-133.39, Y:18.38, Z:-8.47 [[ 9.72900112e-01 -1.30633736e-01 -1.90788360e-01 -1.33391055e+02] [ 1.28936968e-01 9.91423251e-01 -2.13353261e-02 1.83751451e+01] [ 1.91939130e-01 -3.84253159e-03 9.81399310e-01 -8.47266978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71534706999998 meters 0.02244102450742011 Centerline is valid? [True, True] Translation: X:-133.45, Y:18.37, Z:-8.48 [[ 9.73369590e-01 -1.29972456e-01 -1.88835380e-01 -1.33449339e+02] [ 1.28304498e-01 9.91510679e-01 -2.10838738e-02 1.83669673e+01] [ 1.89972619e-01 -3.70602714e-03 9.81782394e-01 -8.47557446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77534706999998 meters 0.021141222803336978 Centerline is valid? [True, True] Translation: X:-133.51, Y:18.36, Z:-8.46 [[ 9.75156722e-01 -1.30807594e-01 -1.78770077e-01 -1.33510245e+02] [ 1.29336508e-01 9.91400848e-01 -1.99104622e-02 1.83638086e+01] [ 1.79837245e-01 -3.70567639e-03 9.83689399e-01 -8.45561921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83534706999998 meters 0.019758151379502653 Centerline is valid? [True, True] Translation: X:-133.57, Y:18.36, Z:-8.44 [[ 9.77609643e-01 -1.24477579e-01 -1.69660595e-01 -1.33571105e+02] [ 1.23064794e-01 9.92219416e-01 -1.88596653e-02 1.83604251e+01] [ 1.70688142e-01 -2.44185547e-03 9.85322077e-01 -8.44456651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89534706999999 meters 0.018951921345449922 Centerline is valid? [True, True] Translation: X:-133.63, Y:18.36, Z:-8.44 [[ 9.78099427e-01 -1.23814495e-01 -1.67306551e-01 -1.33629652e+02] [ 1.22439601e-01 9.92302617e-01 -1.85488488e-02 1.83565654e+01] [ 1.68315344e-01 -2.34232900e-03 9.85730419e-01 -8.44030699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95534707 meters 0.018881404804413856 Centerline is valid? [True, True] Translation: X:-133.69, Y:18.35, Z:-8.45 [[ 9.79077011e-01 -1.19202678e-01 -1.64920974e-01 -1.33687394e+02] [ 1.17806660e-01 9.92868725e-01 -1.82561326e-02 1.83521175e+01] [ 1.65921057e-01 -1.55462927e-03 9.86137813e-01 -8.44794319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01534707 meters 0.019235640508753222 Centerline is valid? [True, True] Translation: X:-133.74, Y:18.35, Z:-8.46 [[ 9.77757156e-01 -1.24668447e-01 -1.68667491e-01 -1.33744187e+02] [ 1.23297991e-01 9.92195065e-01 -1.86160633e-02 1.83452886e+01] [ 1.69671888e-01 -2.59437371e-03 9.85497194e-01 -8.46045402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07534707 meters 0.019813397827005856 Centerline is valid? [True, True] Translation: X:-133.80, Y:18.34, Z:-8.47 [[ 9.76886193e-01 -1.29472855e-01 -1.70088640e-01 -1.33800500e+02] [ 1.28156827e-01 9.91576825e-01 -1.87410958e-02 1.83354539e+01] [ 1.71082417e-01 -3.49010271e-03 9.85250540e-01 -8.47475285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13534707 meters 0.019845604788188927 Centerline is valid? [True, True] Translation: X:-133.86, Y:18.33, Z:-8.48 [[ 9.77001609e-01 -1.31220246e-01 -1.68074697e-01 -1.33858091e+02] [ 1.29970245e-01 9.91345941e-01 -1.84651223e-02 1.83291590e+01] [ 1.69043166e-01 -3.80425534e-03 9.85601307e-01 -8.48023911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19534707 meters 0.021174369507056662 Centerline is valid? [True, True] Translation: X:-133.92, Y:18.32, Z:-8.49 [[ 9.76837434e-01 -1.38424353e-01 -1.63178818e-01 -1.33915192e+02] [ 1.37350611e-01 9.90360750e-01 -1.78995538e-02 1.83158358e+01] [ 1.64083631e-01 -4.92775611e-03 9.86434123e-01 -8.48809738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25534707 meters 0.02184625569297211 Centerline is valid? [True, True] Translation: X:-133.97, Y:18.30, Z:-8.49 [[ 9.77561669e-01 -1.37974243e-01 -1.59173777e-01 -1.33973261e+02] [ 1.36955093e-01 9.90424275e-01 -1.74085819e-02 1.83028925e+01] [ 1.60051508e-01 -4.78169707e-03 9.87097082e-01 -8.48621883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31534706999997 meters 0.021001512718348443 Centerline is valid? [True, True] Translation: X:-134.03, Y:18.30, Z:-8.49 [[ 9.77461312e-01 -1.37909160e-01 -1.59845075e-01 -1.34031720e+02] [ 1.36883559e-01 9.90433200e-01 -1.74633320e-02 1.83005055e+01] [ 1.60724223e-01 -4.81043130e-03 9.86987631e-01 -8.48662202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37534706999998 meters 0.02178003913661469 Centerline is valid? [True, True] Translation: X:-134.09, Y:18.29, Z:-8.50 [[ 9.76708783e-01 -1.39385089e-01 -1.63131084e-01 -1.34088938e+02] [ 1.38341222e-01 9.90224684e-01 -1.77983820e-02 1.82941840e+01] [ 1.64017255e-01 -5.18391753e-03 9.86443849e-01 -8.49950752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43534706999998 meters 0.02219408493975905 Centerline is valid? [True, True] Translation: X:-134.15, Y:18.29, Z:-8.52 [[ 9.75513214e-01 -1.42973004e-01 -1.67130755e-01 -1.34145678e+02] [ 1.41936221e-01 9.89708568e-01 -1.81950207e-02 1.82930801e+01] [ 1.68012137e-01 -5.97242476e-03 9.85766834e-01 -8.51510893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49534706999998 meters 0.021397559242963878 Centerline is valid? [True, True] Translation: X:-134.20, Y:18.28, Z:-8.52 [[ 9.75108267e-01 -1.42466138e-01 -1.69903698e-01 -1.34202527e+02] [ 1.41391686e-01 9.89781414e-01 -1.84700722e-02 1.82818029e+01] [ 1.70798883e-01 -6.01265026e-03 9.85287567e-01 -8.52345276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55534706999998 meters 0.024308715434948985 Centerline is valid? [True, True] Translation: X:-134.26, Y:18.27, Z:-8.54 [[ 9.74363274e-01 -1.46224926e-01 -1.70980937e-01 -1.34257741e+02] [ 1.45204809e-01 9.89228160e-01 -1.85259319e-02 1.82692424e+01] [ 1.71848111e-01 -6.77626678e-03 9.85100152e-01 -8.54347525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61534706999998 meters 0.024274864130842275 Centerline is valid? [True, True] Translation: X:-134.31, Y:18.26, Z:-8.56 [[ 9.74246252e-01 -1.43661503e-01 -1.73797620e-01 -1.34314531e+02] [ 1.42577232e-01 9.89605611e-01 -1.87741059e-02 1.82633738e+01] [ 1.74688216e-01 -6.48898129e-03 9.84602417e-01 -8.55888366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67534707 meters 0.026362745113353556 Centerline is valid? [True, True] Translation: X:-134.37, Y:18.25, Z:-8.57 [[ 9.73190543e-01 -1.46548357e-01 -1.77267440e-01 -1.34370725e+02] [ 1.45476475e-01 9.89177309e-01 -1.91009641e-02 1.82489354e+01] [ 1.78148144e-01 -7.19936480e-03 9.83977341e-01 -8.57193201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73534707 meters 0.027421548898206857 Centerline is valid? [True, True] Translation: X:-134.43, Y:18.24, Z:-8.58 [[ 9.71092554e-01 -1.54313930e-01 -1.82116620e-01 -1.34427207e+02] [ 1.53320818e-01 9.87981939e-01 -1.96065106e-02 1.82410454e+01] [ 1.82953489e-01 -8.88253264e-03 9.83081442e-01 -8.58275207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79534707 meters 0.02605129199346204 Centerline is valid? [True, True] Translation: X:-134.48, Y:18.24, Z:-8.58 [[ 9.69315091e-01 -1.61544201e-01 -1.85288222e-01 -1.34484870e+02] [ 1.60650416e-01 9.86810156e-01 -1.99288717e-02 1.82377139e+01] [ 1.86063693e-01 -1.04492740e-02 9.82482119e-01 -8.58424775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85534707 meters 0.027286102010339777 Centerline is valid? [True, True] Translation: X:-134.54, Y:18.22, Z:-8.59 [[ 9.69745685e-01 -1.64499456e-01 -1.80369719e-01 -1.34542559e+02] [ 1.63708861e-01 9.86318607e-01 -1.93652941e-02 1.82228158e+01] [ 1.81087590e-01 -1.07487109e-02 9.83408232e-01 -8.58639378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91534707 meters 0.03207790780702132 Centerline is valid? [True, True] Translation: X:-134.60, Y:18.20, Z:-8.60 [[ 9.70415228e-01 -1.63699771e-01 -1.77473012e-01 -1.34598004e+02] [ 1.62930438e-01 9.86454573e-01 -1.90012535e-02 1.81981423e+01] [ 1.78179565e-01 -1.04766497e-02 9.83942215e-01 -8.59912761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97534707 meters 0.0288116981626367 Centerline is valid? [True, True] Translation: X:-134.66, Y:18.20, Z:-8.60 [[ 9.67134448e-01 -1.77192729e-01 -1.82355959e-01 -1.34657746e+02] [ 1.76622948e-01 9.84085543e-01 -1.94930036e-02 1.82045441e+01] [ 1.82907881e-01 -1.33558919e-02 9.83039331e-01 -8.60244229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03534706999997 meters 0.03255870719765341 Centerline is valid? [True, True] Translation: X:-134.71, Y:18.18, Z:-8.61 [[ 9.68887369e-01 -1.72328750e-01 -1.77651538e-01 -1.34714063e+02] [ 1.71717809e-01 9.84964341e-01 -1.89272636e-02 1.81828463e+01] [ 1.78242141e-01 -1.21675463e-02 9.83911424e-01 -8.60852690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09534706999997 meters 0.030337244187694384 Centerline is valid? [True, True] Translation: X:-134.77, Y:18.19, Z:-8.62 [[ 9.68075655e-01 -1.73417259e-01 -1.80986136e-01 -1.34771289e+02] [ 1.72813125e-01 9.84766994e-01 -1.92247527e-02 1.81876900e+01] [ 1.81563077e-01 -1.26657647e-02 9.83297731e-01 -8.62326325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15534706999998 meters 0.03400071311751472 Centerline is valid? [True, True] Translation: X:-134.82, Y:18.17, Z:-8.66 [[ 9.68698373e-01 -1.67624038e-01 -1.83100091e-01 -1.34824649e+02] [ 1.66911063e-01 9.85780870e-01 -1.94106692e-02 1.81742729e+01] [ 1.83750261e-01 -1.17583470e-02 9.82902631e-01 -8.65863543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21534706999998 meters 0.03373504458844299 Centerline is valid? [True, True] Translation: X:-134.88, Y:18.18, Z:-8.68 [[ 9.65362062e-01 -1.73184628e-01 -1.95149109e-01 -1.34880915e+02] [ 1.72502422e-01 9.84793265e-01 -2.06189045e-02 1.81771497e+01] [ 1.95752406e-01 -1.37589859e-02 9.80556824e-01 -8.68202999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27534706999998 meters 0.034997462896066624 Centerline is valid? [True, True] Translation: X:-134.94, Y:18.17, Z:-8.71 [[ 9.65194881e-01 -1.68704639e-01 -1.99843908e-01 -1.34935866e+02] [ 1.67909191e-01 9.85577728e-01 -2.10486453e-02 1.81713937e+01] [ 2.00512709e-01 -1.32395841e-02 9.79601637e-01 -8.71161883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33534706999998 meters 0.03324416771958728 Centerline is valid? [True, True] Translation: X:-134.99, Y:18.17, Z:-8.73 [[ 9.63867124e-01 -1.71079543e-01 -2.04186084e-01 -1.34992565e+02] [ 1.70314036e-01 9.85156325e-01 -2.14509906e-02 1.81731545e+01] [ 2.04825038e-01 -1.40998515e-02 9.78697041e-01 -8.72881990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39534706999999 meters 0.031924285093089026 Centerline is valid? [True, True] Translation: X:-135.05, Y:18.17, Z:-8.73 [[ 9.65302048e-01 -1.67534758e-01 -2.00309913e-01 -1.35050661e+02] [ 1.66729859e-01 9.85778848e-01 -2.10051800e-02 1.81668792e+01] [ 2.00980373e-01 -1.31213003e-02 9.79507387e-01 -8.73284570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45534707 meters 0.033501463688956 Centerline is valid? [True, True] Translation: X:-135.11, Y:18.15, Z:-8.74 [[ 9.67045166e-01 -1.59465173e-01 -1.98480493e-01 -1.35107603e+02] [ 1.58520677e-01 9.87137706e-01 -2.07447657e-02 1.81522297e+01] [ 1.99235646e-01 -1.14021367e-02 9.79885273e-01 -8.73789053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51534707 meters 0.033573822016684456 Centerline is valid? [True, True] Translation: X:-135.16, Y:18.15, Z:-8.76 [[ 9.67686277e-01 -1.55216831e-01 -1.98723437e-01 -1.35164637e+02] [ 1.54194880e-01 9.87823488e-01 -2.07049618e-02 1.81475869e+01] [ 1.99517438e-01 -1.06062292e-02 9.79836874e-01 -8.75817939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57534707 meters 0.03156163887953985 Centerline is valid? [True, True] Translation: X:-135.22, Y:18.15, Z:-8.76 [[ 9.65554816e-01 -1.60857689e-01 -2.04520663e-01 -1.35223867e+02] [ 1.59910094e-01 9.86902533e-01 -2.12638649e-02 1.81515482e+01] [ 2.05262417e-01 -1.21734914e-02 9.78631262e-01 -8.76109897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63534707 meters 0.03392614970341976 Centerline is valid? [True, True] Translation: X:-135.28, Y:18.14, Z:-8.78 [[ 9.66805215e-01 -1.55542474e-01 -2.02717080e-01 -1.35279701e+02] [ 1.54500582e-01 9.87768347e-01 -2.10537938e-02 1.81396732e+01] [ 2.03512274e-01 -1.09649893e-02 9.79010992e-01 -8.77778534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69534707 meters 0.03360027213098536 Centerline is valid? [True, True] Translation: X:-135.34, Y:18.14, Z:-8.79 [[ 9.67403066e-01 -1.51191885e-01 -2.03155904e-01 -1.35337665e+02] [ 1.50057877e-01 9.88452769e-01 -2.10655354e-02 1.81376380e+01] [ 2.03994954e-01 -1.01062800e-02 9.78919773e-01 -8.79453661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75534706999997 meters 0.03273868645449393 Centerline is valid? [True, True] Translation: X:-135.40, Y:18.14, Z:-8.82 [[ 9.67879609e-01 -1.46561810e-01 -2.04276033e-01 -1.35395494e+02] [ 1.45324991e-01 9.89158377e-01 -2.11270329e-02 1.81398135e+01] [ 2.05157766e-01 -9.23798840e-03 9.78685317e-01 -8.81607686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81534706999997 meters 0.029628107316900725 Centerline is valid? [True, True] Translation: X:-135.45, Y:18.14, Z:-8.83 [[ 9.69639760e-01 -1.35743738e-01 -2.03402000e-01 -1.35453963e+02] [ 1.34290819e-01 9.90719547e-01 -2.09941777e-02 1.81389219e+01] [ 2.04364165e-01 -6.95823166e-03 9.78870201e-01 -8.82527347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87534706999998 meters 0.025602023811692135 Centerline is valid? [True, True] Translation: X:-135.51, Y:18.14, Z:-8.83 [[ 9.70349170e-01 -1.28654339e-01 -2.04622947e-01 -1.35512834e+02] [ 1.27031935e-01 9.91674147e-01 -2.11014881e-02 1.81432885e+01] [ 2.05634084e-01 -5.51783738e-03 9.78613395e-01 -8.83348847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93534706999998 meters 0.02375371803059195 Centerline is valid? [True, True] Translation: X:-135.57, Y:18.15, Z:-8.86 [[ 9.71998853e-01 -1.16838952e-01 -2.03879594e-01 -1.35570694e+02] [ 1.14976951e-01 9.93146243e-01 -2.09962200e-02 1.81482773e+01] [ 2.04935429e-01 -3.03315241e-03 9.78770795e-01 -8.85574766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99534706999998 meters 0.021462033301770187 Centerline is valid? [True, True] Translation: X:-135.63, Y:18.15, Z:-8.87 [[ 9.72772964e-01 -1.06474685e-01 -2.05854081e-01 -1.35627575e+02] [ 1.04356050e-01 9.94315002e-01 -2.11539753e-02 1.81549866e+01] [ 2.06936164e-01 -9.04103562e-04 9.78354029e-01 -8.87137968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05534706999998 meters 0.02016211664067396 Centerline is valid? [True, True] Translation: X:-135.69, Y:18.15, Z:-8.88 [[ 9.73763746e-01 -9.83801760e-02 -2.05196267e-01 -1.35685499e+02] [ 9.61020568e-02 9.95148589e-01 -2.10637096e-02 1.81539452e+01] [ 2.06273027e-01 7.91293544e-04 9.78494155e-01 -8.87566758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11534706999998 meters 0.020026567834531477 Centerline is valid? [True, True] Translation: X:-135.74, Y:18.15, Z:-8.89 [[ 9.74207103e-01 -8.99963116e-02 -2.06932799e-01 -1.35742909e+02] [ 8.74995908e-02 9.95938829e-01 -2.12054266e-02 1.81545321e+01] [ 2.08000820e-01 2.55194196e-03 9.78125322e-01 -8.89321155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17534707 meters 0.019977574196542894 Centerline is valid? [True, True] Translation: X:-135.80, Y:18.15, Z:-8.91 [[ 9.74546368e-01 -8.33823260e-02 -2.08102775e-01 -1.35800030e+02] [ 8.07175722e-02 9.96509841e-01 -2.12793494e-02 1.81523374e+01] [ 2.09150785e-01 3.94016188e-03 9.77875465e-01 -8.90501309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23534707 meters 0.021747091429533665 Centerline is valid? [True, True] Translation: X:-135.86, Y:18.15, Z:-8.93 [[ 9.75280174e-01 -7.47640497e-02 -2.07939699e-01 -1.35856751e+02] [ 7.19136491e-02 9.97184583e-01 -2.12446276e-02 1.81524177e+01] [ 2.08942597e-01 5.76576148e-03 9.77910910e-01 -8.92859072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29534707 meters 0.024481790511297324 Centerline is valid? [True, True] Translation: X:-135.91, Y:18.15, Z:-8.95 [[ 9.76075129e-01 -6.64126519e-02 -2.07042756e-01 -1.35914037e+02] [ 6.34081032e-02 9.97764144e-01 -2.11216770e-02 1.81470379e+01] [ 2.07982585e-01 7.48815515e-03 9.78103866e-01 -8.94667092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35534707 meters 0.025060591650835684 Centerline is valid? [True, True] Translation: X:-135.97, Y:18.14, Z:-8.96 [[ 9.76219109e-01 -6.20109719e-02 -2.07727927e-01 -1.35970491e+02] [ 5.88970840e-02 9.98040033e-01 -2.11477273e-02 1.81363007e+01] [ 2.08632178e-01 8.41024636e-03 9.77958017e-01 -8.95610748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41534707 meters 0.02576726973097967 Centerline is valid? [True, True] Translation: X:-136.03, Y:18.12, Z:-8.97 [[ 9.75956050e-01 -5.97781485e-02 -2.09610020e-01 -1.36026156e+02] [ 5.65598900e-02 9.98171547e-01 -2.13199739e-02 1.81222603e+01] [ 2.10501227e-01 8.95183790e-03 9.77552606e-01 -8.97242396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47534707 meters 0.03699987274160298 Centerline is valid? [True, True] Translation: X:-136.09, Y:18.10, Z:-8.95 [[ 9.78624599e-01 -4.44637361e-02 -2.00790614e-01 -1.36086359e+02] [ 4.11998353e-02 9.98942504e-01 -2.04070475e-02 1.80979889e+01] [ 2.01485652e-01 1.16982984e-02 9.79421606e-01 -8.94719368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53534706999997 meters 0.025799370917821994 Centerline is valid? [True, True] Translation: X:-136.14, Y:18.09, Z:-8.98 [[ 9.75980997e-01 -5.27935641e-02 -2.11362088e-01 -1.36140469e+02] [ 4.93706687e-02 9.98550321e-01 -2.14428043e-02 1.80867278e+01] [ 2.12187723e-01 1.04926819e-02 9.77172592e-01 -8.98133803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59534706999997 meters 0.04029107667850412 Centerline is valid? [True, True] Translation: X:-136.20, Y:18.08, Z:-8.98 [[ 9.79342081e-01 -3.07392150e-02 -1.99860422e-01 -1.36200470e+02] [ 2.72407710e-02 9.99424147e-01 -2.02315216e-02 1.80831164e+01] [ 2.00367233e-01 1.43692285e-02 9.79615484e-01 -8.97973322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65534706999998 meters 0.02810406219805044 Centerline is valid? [True, True] Translation: X:-136.26, Y:18.05, Z:-8.98 [[ 9.77868623e-01 -3.61859030e-02 -2.06066826e-01 -1.36255509e+02] [ 3.25854550e-02 9.99251651e-01 -2.08404692e-02 1.80523525e+01] [ 2.06666747e-01 1.36644596e-02 9.78315971e-01 -8.98475496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71534706999998 meters 0.03245961414323852 Centerline is valid? [True, True] Translation: X:-136.31, Y:18.04, Z:-9.01 [[ 9.77580070e-01 -3.21742830e-02 -2.08091379e-01 -1.36311463e+02] [ 2.84211832e-02 9.99375394e-01 -2.10013718e-02 1.80436441e+01] [ 2.08637108e-01 1.46163193e-02 9.77883899e-01 -9.00962315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77534706999998 meters 0.03784120215126326 Centerline is valid? [True, True] Translation: X:-136.37, Y:18.03, Z:-9.02 [[ 9.78569257e-01 -2.18706531e-02 -2.04753227e-01 -1.36370101e+02] [ 1.80277610e-02 9.99624935e-01 -2.06152427e-02 1.80321926e+01] [ 2.05127301e-01 1.64822005e-02 9.78596509e-01 -9.01600970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83534706999998 meters 0.04724112897015878 Centerline is valid? [True, True] Translation: X:-136.43, Y:18.02, Z:-9.01 [[ 9.80577342e-01 -5.62166153e-03 -1.96052221e-01 -1.36429952e+02] [ 1.78778673e-03 9.99803808e-01 -1.97268637e-02 1.80162411e+01] [ 1.96124655e-01 1.89932160e-02 9.80395011e-01 -9.01119463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89534706999999 meters 0.04744178163611776 Centerline is valid? [True, True] Translation: X:-136.49, Y:18.01, Z:-9.04 [[ 9.79742898e-01 -7.17708316e-03 -2.00130814e-01 -1.36485427e+02] [ 3.21767995e-03 9.99792750e-01 -2.01023348e-02 1.80095607e+01] [ 2.00233613e-01 1.90511629e-02 9.79562940e-01 -9.03720955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95534707 meters 0.03855860726777445 Centerline is valid? [True, True] Translation: X:-136.54, Y:17.97, Z:-9.03 [[ 9.79167227e-01 -9.98515408e-03 -2.02809855e-01 -1.36540884e+02] [ 5.98831614e-03 9.99775768e-01 -2.03114005e-02 1.79706821e+01] [ 2.02967191e-01 1.86737682e-02 9.79007461e-01 -9.03246942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01534707 meters 0.03838327460153857 Centerline is valid? [True, True] Translation: X:-136.60, Y:17.95, Z:-9.05 [[ 9.78309667e-01 -1.20604268e-02 -2.06796377e-01 -1.36596674e+02] [ 7.95731850e-03 9.99754859e-01 -2.06616228e-02 1.79520784e+01] [ 2.06994870e-01 1.85679207e-02 9.78165812e-01 -9.04815552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07534707 meters 0.03991707782774972 Centerline is valid? [True, True] Translation: X:-136.65, Y:17.93, Z:-9.06 [[ 9.78578344e-01 -7.79582626e-03 -2.05727124e-01 -1.36653679e+02] [ 3.65620670e-03 9.99783283e-01 -2.04943907e-02 1.79342938e+01] [ 2.05842310e-01 1.93031861e-02 9.78394772e-01 -9.05777575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13534707 meters 0.05062839722455825 Centerline is valid? [True, True] Translation: X:-136.71, Y:17.94, Z:-9.09 [[ 9.78121858e-01 -7.22861411e-03 -2.07907139e-01 -1.36709785e+02] [ 2.98958541e-03 9.99781344e-01 -2.06960411e-02 1.79398938e+01] [ 2.08011282e-01 1.96216940e-02 9.77929596e-01 -9.09253631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19534707 meters 0.039656339199742756 Centerline is valid? [True, True] Translation: X:-136.77, Y:17.90, Z:-9.09 [[ 9.77433924e-01 -9.82606605e-03 -2.11012729e-01 -1.36765944e+02] [ 5.52432069e-03 9.99764926e-01 -2.09660231e-02 1.79043319e+01] [ 2.11169139e-01 1.93272002e-02 9.77258438e-01 -9.09130964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25534706999997 meters 0.05573783916530735 Centerline is valid? [True, True] Translation: X:-136.82, Y:17.93, Z:-9.14 [[ 9.76990519e-01 -1.06522453e-02 -2.13016560e-01 -1.36821126e+02] [ 6.30479643e-03 9.99757957e-01 -2.10778951e-02 1.79251766e+01] [ 2.13189528e-01 1.92498776e-02 9.76821205e-01 -9.13924289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31534706999997 meters 0.054428423700961036 Centerline is valid? [True, True] Translation: X:-136.88, Y:17.90, Z:-9.15 [[ 9.77166581e-01 -1.16090414e-02 -2.12157261e-01 -1.36876396e+02] [ 7.33268899e-03 9.99754006e-01 -2.09322415e-02 1.79043737e+01] [ 2.12348075e-01 1.88986036e-02 9.77011330e-01 -9.15442722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37534706999998 meters 0.057232408295838054 Centerline is valid? [True, True] Translation: X:-136.93, Y:17.89, Z:-9.16 [[ 9.77894648e-01 -6.09452124e-03 -2.09009364e-01 -1.36934287e+02] [ 1.82602555e-03 9.99785936e-01 -2.06093925e-02 1.78899818e+01] [ 2.09090227e-01 1.97721581e-02 9.77696445e-01 -9.16273110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43534706999998 meters 0.05124498335889459 Centerline is valid? [True, True] Translation: X:-136.99, Y:17.87, Z:-9.18 [[ 9.76526410e-01 -1.53876302e-02 -2.14847369e-01 -1.36990141e+02] [ 1.10943752e-02 9.99714237e-01 -2.11744858e-02 1.78712368e+01] [ 2.15111798e-01 1.82938473e-02 9.76418071e-01 -9.17951085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49534706999998 meters 0.04980251380590259 Centerline is valid? [True, True] Translation: X:-137.05, Y:17.86, Z:-9.19 [[ 9.75971604e-01 -1.57881014e-02 -2.17325019e-01 -1.37046424e+02] [ 1.14055525e-02 9.99705815e-01 -2.14055493e-02 1.78593864e+01] [ 2.17599038e-01 1.84124963e-02 9.75864560e-01 -9.19474705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55534706999998 meters 0.05267157340382452 Centerline is valid? [True, True] Translation: X:-137.10, Y:17.86, Z:-9.22 [[ 9.75442497e-01 -2.12974673e-02 -2.19222152e-01 -1.37103962e+02] [ 1.69751767e-02 9.99622971e-01 -2.15814356e-02 1.78583830e+01] [ 2.19599129e-01 1.73301147e-02 9.75436256e-01 -9.22003531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61534706999998 meters 0.05785444475261822 Centerline is valid? [True, True] Translation: X:-137.16, Y:17.85, Z:-9.23 [[ 9.76484977e-01 -1.23189241e-02 -2.15233209e-01 -1.37162368e+02] [ 7.94338205e-03 9.99744069e-01 -2.11825030e-02 1.78541625e+01] [ 2.15439070e-01 1.89747163e-02 9.76332918e-01 -9.23055115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67534707 meters 0.05315228341217529 Centerline is valid? [True, True] Translation: X:-137.22, Y:17.84, Z:-9.24 [[ 9.75751100e-01 -1.83419769e-02 -2.18113187e-01 -1.37220367e+02] [ 1.39954598e-02 9.99671826e-01 -2.14561636e-02 1.78432248e+01] [ 2.18435156e-01 1.78832809e-02 9.75687589e-01 -9.24366400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73534707 meters 0.05242354155522915 Centerline is valid? [True, True] Translation: X:-137.28, Y:17.83, Z:-9.26 [[ 9.75345350e-01 -1.95147847e-02 -2.19819521e-01 -1.37275738e+02] [ 1.51308435e-02 9.99651982e-01 -2.16095250e-02 1.78333500e+01] [ 2.20164725e-01 1.77506950e-02 9.75301188e-01 -9.25697654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79534707 meters 0.04728441535156066 Centerline is valid? [True, True] Translation: X:-137.33, Y:17.82, Z:-9.27 [[ 9.74052249e-01 -2.59082741e-02 -2.24835444e-01 -1.37331661e+02] [ 2.14946497e-02 9.99525634e-01 -2.20564525e-02 1.78201789e+01] [ 2.25300234e-01 1.66513781e-02 9.74147081e-01 -9.27330491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85534707 meters 0.04582747870563383 Centerline is valid? [True, True] Translation: X:-137.39, Y:17.80, Z:-9.29 [[ 9.74399297e-01 -3.15348820e-02 -2.22601801e-01 -1.37387871e+02] [ 2.73661289e-02 9.99388002e-01 -2.17879903e-02 1.78033254e+01] [ 2.23152651e-01 1.51384529e-02 9.74665954e-01 -9.28524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91534707 meters 0.040285725393664734 Centerline is valid? [True, True] Translation: X:-137.44, Y:17.79, Z:-9.30 [[ 9.73349721e-01 -4.27297624e-02 -2.25309762e-01 -1.37444338e+02] [ 3.87545296e-02 9.99005694e-01 -2.20388380e-02 1.77873258e+01] [ 2.26027449e-01 1.27197230e-02 9.74037885e-01 -9.30177309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97534707 meters 0.03469832063013597 Centerline is valid? [True, True] Translation: X:-137.50, Y:17.78, Z:-9.32 [[ 9.71398997e-01 -5.12902546e-02 -2.31847576e-01 -1.37502085e+02] [ 4.73217862e-02 9.98622871e-01 -2.26497328e-02 1.77765420e+01] [ 2.32690003e-01 1.10304863e-02 9.72488401e-01 -9.31680218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03534706999997 meters 0.031130952923480837 Centerline is valid? [True, True] Translation: X:-137.56, Y:17.76, Z:-9.33 [[ 9.70637453e-01 -6.22208784e-02 -2.32360706e-01 -1.37558065e+02] [ 5.85503188e-02 9.98027081e-01 -2.26672980e-02 1.77589970e+01] [ 2.33312656e-01 8.39693497e-03 9.72365516e-01 -9.32965488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09534706999997 meters 0.028891687056686603 Centerline is valid? [True, True] Translation: X:-137.62, Y:17.74, Z:-9.34 [[ 9.71315967e-01 -7.37896068e-02 -2.26053945e-01 -1.37615206e+02] [ 7.06319230e-02 9.97259006e-01 -2.20364893e-02 1.77415827e+01] [ 2.27060396e-01 5.43776911e-03 9.73865498e-01 -9.34061295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15534706999998 meters 0.02723105237787211 Centerline is valid? [True, True] Translation: X:-137.67, Y:17.73, Z:-9.36 [[ 9.70341526e-01 -8.13308136e-02 -2.27645825e-01 -1.37670118e+02] [ 7.83437878e-02 9.96680475e-01 -2.21423054e-02 1.77279525e+01] [ 2.28691001e-01 3.65096219e-03 9.73492217e-01 -9.35623266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21534706999998 meters 0.026799627600770842 Centerline is valid? [True, True] Translation: X:-137.73, Y:17.71, Z:-9.37 [[ 9.69135093e-01 -8.84426586e-02 -2.30119683e-01 -1.37725311e+02] [ 8.56031120e-02 9.96079407e-01 -2.23141757e-02 1.77115698e+01] [ 2.31191002e-01 1.92648980e-03 9.72906475e-01 -9.36783866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27534706999998 meters 0.028222073994133377 Centerline is valid? [True, True] Translation: X:-137.78, Y:17.70, Z:-9.38 [[ 9.70105347e-01 -8.85926249e-02 -2.25935747e-01 -1.37782117e+02] [ 8.58667639e-02 9.96066263e-01 -2.18837351e-02 1.77011852e+01] [ 2.26985713e-01 1.82915699e-03 9.73896370e-01 -9.37688300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33534706999998 meters 0.028299018069072566 Centerline is valid? [True, True] Translation: X:-137.84, Y:17.69, Z:-9.39 [[ 9.70465644e-01 -9.20572647e-02 -2.22984065e-01 -1.37839936e+02] [ 8.94971242e-02 9.95753224e-01 -2.15819630e-02 1.76912099e+01] [ 2.24023878e-01 9.88121054e-04 9.74583155e-01 -9.38796724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39534706999999 meters 0.026532256190827535 Centerline is valid? [True, True] Translation: X:-137.90, Y:17.68, Z:-9.40 [[ 9.70287247e-01 -9.59716034e-02 -2.22108330e-01 -1.37897128e+02] [ 9.35392708e-02 9.95384071e-01 -2.14699007e-02 1.76848330e+01] [ 2.23143594e-01 5.61196171e-05 9.74785583e-01 -9.39505615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45534707 meters 0.03319610720354933 Centerline is valid? [True, True] Translation: X:-137.95, Y:17.68, Z:-9.41 [[ 9.74193925e-01 -8.09166708e-02 -2.10709964e-01 -1.37954308e+02] [ 7.83915017e-02 9.96715469e-01 -2.03235416e-02 1.76829045e+01] [ 2.11662394e-01 3.28120022e-03 9.77337334e-01 -9.41395581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51534707 meters 0.027402163660897788 Centerline is valid? [True, True] Translation: X:-138.01, Y:17.68, Z:-9.42 [[ 9.71500137e-01 -9.18949484e-02 -2.18501265e-01 -1.38012495e+02] [ 8.94589020e-02 9.95768309e-01 -2.10375981e-02 1.76790495e+01] [ 2.19509884e-01 8.91146222e-04 9.75609869e-01 -9.42034077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57534707 meters 0.027492558146465486 Centerline is valid? [True, True] Translation: X:-138.07, Y:17.68, Z:-9.43 [[ 9.73308782e-01 -8.72872006e-02 -2.12252114e-01 -1.38071803e+02] [ 8.48849065e-02 9.96181452e-01 -2.04222477e-02 1.76755952e+01] [ 2.13224220e-01 1.86015219e-03 9.77001521e-01 -9.42771300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63534707 meters 0.036308136206894145 Centerline is valid? [True, True] Translation: X:-138.13, Y:17.67, Z:-9.43 [[ 9.79005463e-01 -6.09950815e-02 -1.94493968e-01 -1.38131414e+02] [ 5.84701160e-02 9.98113957e-01 -1.87022724e-02 1.76743974e+01] [ 1.95267891e-01 6.93754194e-03 9.80725406e-01 -9.43167122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69534707 meters 0.028455971704531412 Centerline is valid? [True, True] Translation: X:-138.19, Y:17.67, Z:-9.45 [[ 9.76864267e-01 -7.36637122e-02 -2.00773161e-01 -1.38187806e+02] [ 7.12426885e-02 9.97272904e-01 -1.92674533e-02 1.76674439e+01] [ 2.01644945e-01 4.51806691e-03 9.79448265e-01 -9.44961722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75534706999997 meters 0.03018030150000115 Centerline is valid? [True, True] Translation: X:-138.25, Y:17.66, Z:-9.47 [[ 9.78645077e-01 -6.89541587e-02 -1.93646941e-01 -1.38245968e+02] [ 6.66233152e-02 9.97606099e-01 -1.85311981e-02 1.76625986e+01] [ 1.94461173e-01 5.23406458e-03 9.80896252e-01 -9.46528059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81534706999997 meters 0.028145008699933693 Centerline is valid? [True, True] Translation: X:-138.30, Y:17.65, Z:-9.46 [[ 9.79067118e-01 -6.86261015e-02 -1.91619508e-01 -1.38302927e+02] [ 6.63412830e-02 9.97628763e-01 -1.83217458e-02 1.76489358e+01] [ 1.92422483e-01 5.22593485e-03 9.81298261e-01 -9.46314554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87534706999998 meters 0.027925459773801984 Centerline is valid? [True, True] Translation: X:-138.36, Y:17.64, Z:-9.48 [[ 9.79162348e-01 -7.24161065e-02 -1.89728763e-01 -1.38359739e+02] [ 7.02524116e-02 9.97364768e-01 -1.81140531e-02 1.76395550e+01] [ 1.90540533e-01 4.40769558e-03 9.81669434e-01 -9.48000624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93534706999998 meters 0.02616765869485743 Centerline is valid? [True, True] Translation: X:-138.42, Y:17.63, Z:-9.49 [[ 9.78786535e-01 -7.59533880e-02 -1.90284001e-01 -1.38415932e+02] [ 7.38467971e-02 9.97104464e-01 -1.81476720e-02 1.76263876e+01] [ 1.91111404e-01 3.71083303e-03 9.81561338e-01 -9.48657567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99534706999998 meters 0.02711799680746633 Centerline is valid? [True, True] Translation: X:-138.47, Y:17.62, Z:-9.50 [[ 9.79121564e-01 -7.44775608e-02 -1.89140307e-01 -1.38473039e+02] [ 7.23771552e-02 9.97214936e-01 -1.79977640e-02 1.76190980e+01] [ 1.89953969e-01 3.93256152e-03 9.81785121e-01 -9.49900254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05534706999998 meters 0.028540324307133956 Centerline is valid? [True, True] Translation: X:-138.53, Y:17.61, Z:-9.51 [[ 9.79464283e-01 -7.10305666e-02 -1.88691219e-01 -1.38530209e+02] [ 6.88912412e-02 9.97463924e-01 -1.78806282e-02 1.76092328e+01] [ 1.89482754e-01 4.51426447e-03 9.81873672e-01 -9.50670079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11534706999998 meters 0.029099857420128352 Centerline is valid? [True, True] Translation: X:-138.59, Y:17.60, Z:-9.51 [[ 9.79506266e-01 -6.73066147e-02 -1.89834913e-01 -1.38587106e+02] [ 6.50836108e-02 9.97718762e-01 -1.79275120e-02 1.75992446e+01] [ 1.90608495e-01 5.20496869e-03 9.81652337e-01 -9.51231076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17534707 meters 0.031288691819574076 Centerline is valid? [True, True] Translation: X:-138.65, Y:17.59, Z:-9.52 [[ 9.80236694e-01 -5.87128036e-02 -1.88914876e-01 -1.38645239e+02] [ 5.63592830e-02 9.98251676e-01 -1.78107587e-02 1.75895262e+01] [ 1.89630311e-01 6.81165228e-03 9.81831934e-01 -9.52301317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23534707 meters 0.03270205633479857 Centerline is valid? [True, True] Translation: X:-138.70, Y:17.58, Z:-9.53 [[ 9.80541451e-01 -5.30164996e-02 -1.89017760e-01 -1.38703318e+02] [ 5.05577327e-02 9.98562334e-01 -1.78095803e-02 1.75808488e+01] [ 1.89690217e-01 7.90672229e-03 9.81812154e-01 -9.52924559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29534707 meters 0.03836373065717307 Centerline is valid? [True, True] Translation: X:-138.76, Y:17.58, Z:-9.54 [[ 9.81157328e-01 -4.32888520e-02 -1.88298628e-01 -1.38761446e+02] [ 4.06736878e-02 9.99015127e-01 -1.77321054e-02 1.75790388e+01] [ 1.88880780e-01 9.73918553e-03 9.81951729e-01 -9.54456928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35534707 meters 0.04114423175090289 Centerline is valid? [True, True] Translation: X:-138.82, Y:17.57, Z:-9.55 [[ 9.81853757e-01 -3.61421984e-02 -1.86163750e-01 -1.38819302e+02] [ 3.34616709e-02 9.99286395e-01 -1.75218855e-02 1.75676019e+01] [ 1.86664182e-01 1.09745790e-02 9.82362480e-01 -9.54720037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41534707 meters 0.04243503109034854 Centerline is valid? [True, True] Translation: X:-138.88, Y:17.56, Z:-9.56 [[ 9.81762978e-01 -3.09252359e-02 -1.87576878e-01 -1.38878054e+02] [ 2.81118729e-02 9.99449111e-01 -1.76407855e-02 1.75575270e+01] [ 1.88019089e-01 1.20459328e-02 9.82091502e-01 -9.55676384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47534707 meters 0.041317191409515897 Centerline is valid? [True, True] Translation: X:-138.93, Y:17.54, Z:-9.56 [[ 9.81696329e-01 -3.06847459e-02 -1.87964795e-01 -1.38934234e+02] [ 2.78612209e-02 9.99456040e-01 -1.76458384e-02 1.75401949e+01] [ 1.88404008e-01 1.20859261e-02 9.82017240e-01 -9.56452966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53534706999997 meters 0.04500045775776516 Centerline is valid? [True, True] Translation: X:-138.99, Y:17.52, Z:-9.57 [[ 9.82298823e-01 -2.67030308e-02 -1.85407582e-01 -1.38991042e+02] [ 2.39020626e-02 9.99564151e-01 -1.73262837e-02 1.75217177e+01] [ 1.85789436e-01 1.25879645e-02 9.82508946e-01 -9.57417373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59534706999997 meters 0.04444280306039479 Centerline is valid? [True, True] Translation: X:-139.05, Y:17.50, Z:-9.58 [[ 9.82098083e-01 -2.59130192e-02 -1.86579396e-01 -1.39046979e+02] [ 2.30729932e-02 9.99582744e-01 -1.73773979e-02 1.75012032e+01] [ 1.86951845e-01 1.27613640e-02 9.82286188e-01 -9.57639984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65534706999998 meters 0.04706793517936714 Centerline is valid? [True, True] Translation: X:-139.11, Y:17.48, Z:-9.58 [[ 9.82248419e-01 -2.23343171e-02 -1.86250427e-01 -1.39105302e+02] [ 1.94453332e-02 9.99660822e-01 -1.73239548e-02 1.74819367e+01] [ 1.86574173e-01 1.33947256e-02 9.82349561e-01 -9.58289115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71534706999998 meters 0.054424483841044584 Centerline is valid? [True, True] Translation: X:-139.16, Y:17.47, Z:-9.59 [[ 9.82991787e-01 -1.53823013e-02 -1.83004186e-01 -1.39164171e+02] [ 1.24781343e-02 9.99777446e-01 -1.70103999e-02 1.74740951e+01] [ 1.83225117e-01 1.44375326e-02 9.82964961e-01 -9.58989391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77534706999998 meters 0.06061218985958147 Centerline is valid? [True, True] Translation: X:-139.22, Y:17.46, Z:-9.59 [[ 9.83495755e-01 -5.66417510e-03 -1.80842519e-01 -1.39222759e+02] [ 2.66866111e-03 9.99855254e-01 -1.68032296e-02 1.74557977e+01] [ 1.80911519e-01 1.60432976e-02 9.83368514e-01 -9.59069364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83534706999998 meters 0.06836538375937634 Centerline is valid? [True, True] Translation: X:-139.28, Y:17.45, Z:-9.60 [[ 9.83838683e-01 4.62093868e-03 -1.78997466e-01 -1.39282328e+02] [-7.72073284e-03 9.99831989e-01 -1.66247790e-02 1.74479949e+01] [ 1.78890570e-01 1.77380923e-02 9.83709065e-01 -9.59775321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89534706999999 meters 0.07154605619917404 Centerline is valid? [True, True] Translation: X:-139.34, Y:17.43, Z:-9.60 [[ 9.83866025e-01 1.14310797e-02 -1.78541243e-01 -1.39340627e+02] [-1.46243566e-02 9.99755595e-01 -1.65794839e-02 1.74344033e+01] [ 1.78308085e-01 1.89230417e-02 9.83792735e-01 -9.60179740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95534707 meters 0.08205770380260972 Centerline is valid? [True, True] Translation: X:-139.40, Y:17.43, Z:-9.61 [[ 9.84214491e-01 1.76265581e-02 -1.76099803e-01 -1.39398893e+02] [-2.08274070e-02 9.99649477e-01 -1.63444598e-02 1.74282475e+01] [ 1.75749980e-01 1.97541565e-02 9.84236617e-01 -9.61232840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01534707 meters 0.08886518516697298 Centerline is valid? [True, True] Translation: X:-139.46, Y:17.41, Z:-9.62 [[ 9.84255763e-01 2.54726379e-02 -1.74904938e-01 -1.39457081e+02] [-2.87493027e-02 9.99454958e-01 -1.62254578e-02 1.74129159e+01] [ 1.74396302e-01 2.09983953e-02 9.84451623e-01 -9.61708349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07534707 meters 0.10664719479317536 Centerline is valid? [True, False] Translation: X:-139.46, Y:17.41, Z:-9.61 [[ 9.83886712e-01 5.03637608e-03 -1.78722056e-01 -1.39460633e+02] [-1.12247186e-02 9.99371276e-01 -3.36312263e-02 1.74098430e+01] [ 1.78440309e-01 3.50954215e-02 9.83324650e-01 -9.61148116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13534707 meters 0.11589599449608691 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.41, Z:-9.61 [[ 9.83495200e-01 -1.03921073e-02 -1.80635531e-01 -1.39462720e+02] [ 1.95492654e-03 9.98901255e-01 -4.68237234e-02 1.74094284e+01] [ 1.80923656e-01 4.56977780e-02 9.82434906e-01 -9.60842791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19534707 meters 0.11245464986045704 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.41, Z:-9.61 [[ 9.83326616e-01 -1.55282073e-02 -1.81184000e-01 -1.39463919e+02] [ 6.31599059e-03 9.98662743e-01 -5.13111560e-02 1.74067184e+01] [ 1.81738481e-01 4.93112690e-02 9.82109731e-01 -9.60724792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25534706999997 meters 0.10940911663494116 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.40, Z:-9.61 [[ 9.83432055e-01 -1.56675273e-02 -1.80598787e-01 -1.39464643e+02] [ 6.55173465e-03 9.98679110e-01 -5.09618394e-02 1.74032980e+01] [ 1.81158682e-01 4.89342711e-02 9.82235699e-01 -9.60778674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31534706999997 meters 0.1075290879746618 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.40, Z:-9.61 [[ 9.83552144e-01 -1.49223880e-02 -1.80006950e-01 -1.39463577e+02] [ 5.91202945e-03 9.98707137e-01 -5.04886402e-02 1.73992076e+01] [ 1.80527637e-01 4.85940040e-02 9.82368767e-01 -9.60897438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37534706999998 meters 0.10097279809048942 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.39, Z:-9.61 [[ 9.83497874e-01 -1.63024659e-02 -1.80183689e-01 -1.39460500e+02] [ 6.96767242e-03 9.98606109e-01 -5.23191145e-02 1.73935165e+01] [ 1.80785464e-01 5.02002770e-02 9.82240576e-01 -9.61030058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43534706999998 meters 0.10379576536405581 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.39, Z:-9.61 [[ 9.83607294e-01 -1.30553512e-02 -1.79850628e-01 -1.39457350e+02] [ 4.16013523e-03 9.98753158e-01 -4.97475822e-02 1.73896479e+01] [ 1.80275855e-01 4.81838818e-02 9.82435204e-01 -9.61250229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49534706999998 meters 0.10179818269057327 Centerline is valid? [False, False] Translation: X:-139.46, Y:17.39, Z:-9.62 [[ 9.83906658e-01 -6.81989518e-03 -1.78553012e-01 -1.39455220e+02] [-1.05142781e-03 9.99033079e-01 -4.39522559e-02 1.73870083e+01] [ 1.78680116e-01 4.34326528e-02 9.82948127e-01 -9.61536632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55534706999998 meters 0.10194469872497032 Centerline is valid? [False, False] Translation: X:-139.45, Y:17.38, Z:-9.62 [[ 9.83864388e-01 -3.11974504e-03 -1.78888608e-01 -1.39452195e+02] [-4.38545670e-03 9.99127058e-01 -4.15438213e-02 1.73823311e+01] [ 1.78862055e-01 4.16579945e-02 9.82991850e-01 -9.61637834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61534706999998 meters 0.0792717859470351 Centerline is valid? [False, True] Translation: X:-139.47, Y:17.38, Z:-9.62 [[ 9.84909113e-01 -8.71178885e-03 -1.72852953e-01 -1.39474599e+02] [ 1.81491872e-03 9.99197302e-01 -4.00182109e-02 1.73787817e+01] [ 1.73062835e-01 3.91005865e-02 9.84134340e-01 -9.62407117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67534707 meters 0.07877788012832344 Centerline is valid? [True, True] Translation: X:-139.53, Y:17.37, Z:-9.64 [[ 9.84110600e-01 -1.62848286e-02 -1.76808177e-01 -1.39532128e+02] [ 1.12666496e-02 9.99505726e-01 -2.93490394e-02 1.73687629e+01] [ 1.77198729e-01 2.68906650e-02 9.83807655e-01 -9.64100253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73534707 meters 0.06815986957005815 Centerline is valid? [True, True] Translation: X:-139.59, Y:17.35, Z:-9.65 [[ 9.83130033e-01 -2.69538654e-02 -1.80911104e-01 -1.39587177e+02] [ 2.18714055e-02 9.99309672e-01 -3.00303448e-02 1.73467294e+01] [ 1.81595650e-01 2.55669537e-02 9.83040869e-01 -9.65236065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79534707 meters 0.05023150953327587 Centerline is valid? [True, True] Translation: X:-139.64, Y:17.32, Z:-9.66 [[ 9.81920630e-01 -3.38789080e-02 -1.86236666e-01 -1.39643060e+02] [ 2.86095503e-02 9.99112645e-01 -3.09097982e-02 1.73241541e+01] [ 1.87118598e-01 2.50228213e-02 9.82018579e-01 -9.66148608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85534707 meters 0.06071124302624544 Centerline is valid? [True, True] Translation: X:-139.70, Y:17.34, Z:-9.68 [[ 9.81062140e-01 -3.80644039e-02 -1.89916242e-01 -1.39704949e+02] [ 3.26583843e-02 9.98969575e-01 -3.15153507e-02 1.73398286e+01] [ 1.90920161e-01 2.47161598e-02 9.81294351e-01 -9.68000241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91534707 meters 0.06939242927774547 Centerline is valid? [True, True] Translation: X:-139.76, Y:17.35, Z:-9.70 [[ 9.81186905e-01 -3.98955847e-02 -1.88893092e-01 -1.39764975e+02] [ 3.45822933e-02 9.98910257e-01 -3.13426782e-02 1.73493442e+01] [ 1.89937682e-01 2.42206691e-02 9.81497344e-01 -9.69786455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97534707 meters 0.058250546316006 Centerline is valid? [True, True] Translation: X:-139.82, Y:17.33, Z:-9.70 [[ 9.80637704e-01 -3.54172193e-02 -1.92601436e-01 -1.39821660e+02] [ 2.98073345e-02 9.99044973e-01 -3.19478347e-02 1.73268164e+01] [ 1.93549000e-01 2.55883158e-02 9.80756862e-01 -9.70029628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03534706999997 meters 0.05804173279437354 Centerline is valid? [True, True] Translation: X:-139.88, Y:17.32, Z:-9.71 [[ 9.80406260e-01 -3.64427669e-02 -1.93585874e-01 -1.39879487e+02] [ 3.08001576e-02 9.99010654e-01 -3.20790200e-02 1.73210960e+01] [ 1.94563399e-01 2.54879966e-02 9.80558742e-01 -9.71030662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09534706999997 meters 0.06234951605119442 Centerline is valid? [True, True] Translation: X:-139.94, Y:17.32, Z:-9.72 [[ 9.80211155e-01 -4.34032968e-02 -1.93137894e-01 -1.39939136e+02] [ 3.79322580e-02 9.98769823e-01 -3.19371850e-02 1.73246319e+01] [ 1.94286480e-01 2.39790286e-02 9.80651707e-01 -9.72346054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15534706999998 meters 0.05153384384069706 Centerline is valid? [True, True] Translation: X:-140.00, Y:17.30, Z:-9.73 [[ 9.79866945e-01 -6.14426465e-02 -1.89962026e-01 -1.39995479e+02] [ 5.64858291e-02 9.97909380e-01 -3.14041525e-02 1.73011778e+01] [ 1.91494442e-01 2.00417285e-02 9.81289054e-01 -9.72503693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21534706999998 meters 0.044156035533654873 Centerline is valid? [True, True] Translation: X:-140.05, Y:17.28, Z:-9.73 [[ 9.78485329e-01 -8.21763985e-02 -1.89244553e-01 -1.40052288e+02] [ 7.76398511e-02 9.96490815e-01 -3.12747234e-02 1.72811937e+01] [ 1.91150503e-01 1.59089391e-02 9.81431807e-01 -9.73236885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27534706999998 meters 0.03560001313304379 Centerline is valid? [True, True] Translation: X:-140.11, Y:17.26, Z:-9.74 [[ 9.77014373e-01 -1.04434221e-01 -1.85839739e-01 -1.40109451e+02] [ 1.00460253e-01 9.94467314e-01 -3.07001555e-02 1.72576400e+01] [ 1.88017693e-01 1.13249860e-02 9.82100347e-01 -9.73625515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33534706999998 meters 0.02795864785061867 Centerline is valid? [True, True] Translation: X:-140.17, Y:17.24, Z:-9.75 [[ 9.74117924e-01 -1.27830769e-01 -1.86423082e-01 -1.40166103e+02] [ 1.24256021e-01 9.91772518e-01 -3.07849568e-02 1.72369372e+01] [ 1.88824554e-01 6.82398772e-03 9.81987129e-01 -9.74875834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39534706999999 meters 0.021921905826388487 Centerline is valid? [True, True] Translation: X:-140.22, Y:17.21, Z:-9.75 [[ 9.70150787e-01 -1.54774293e-01 -1.86687890e-01 -1.40221663e+02] [ 1.51683420e-01 9.87948592e-01 -3.08175085e-02 1.72099613e+01] [ 1.89207796e-01 1.58017258e-03 9.81935799e-01 -9.75302785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45534707 meters 0.02113564617850701 Centerline is valid? [True, True] Translation: X:-140.28, Y:17.19, Z:-9.76 [[ 9.67854889e-01 -1.70347345e-01 -1.85037011e-01 -1.40278468e+02] [ 1.67597836e-01 9.85382975e-01 -3.05181579e-02 1.71932365e+01] [ 1.87531008e-01 -1.47465424e-03 9.82257577e-01 -9.75966234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51534707 meters 0.023096163847458346 Centerline is valid? [True, True] Translation: X:-140.34, Y:17.18, Z:-9.77 [[ 9.65377448e-01 -1.81789320e-01 -1.87080266e-01 -1.40335938e+02] [ 1.79203102e-01 9.83330156e-01 -3.07904601e-02 1.71785611e+01] [ 1.89559044e-01 -3.80094820e-03 9.81861967e-01 -9.77028433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57534707 meters 0.023125328155961283 Centerline is valid? [True, True] Translation: X:-140.39, Y:17.17, Z:-9.78 [[ 9.66152082e-01 -1.78809580e-01 -1.85949694e-01 -1.40393577e+02] [ 1.76205577e-01 9.83878415e-01 -3.05754799e-02 1.71731356e+01] [ 1.88419079e-01 -3.22480942e-03 9.82083424e-01 -9.77965879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63534707 meters 0.022587673830442717 Centerline is valid? [True, True] Translation: X:-140.45, Y:17.17, Z:-9.79 [[ 9.67943158e-01 -1.67925756e-01 -1.86780575e-01 -1.40451950e+02] [ 1.65111783e-01 9.85798932e-01 -3.06360012e-02 1.71727336e+01] [ 1.89272665e-01 -1.18576599e-03 9.81923853e-01 -9.79072593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69534707 meters 0.023262045799027648 Centerline is valid? [True, True] Translation: X:-140.51, Y:17.18, Z:-9.80 [[ 9.70604046e-01 -1.51411722e-01 -1.87088953e-01 -1.40509987e+02] [ 1.48296636e-01 9.88468812e-01 -3.06188590e-02 1.71785940e+01] [ 1.89567650e-01 1.97412607e-03 9.81865678e-01 -9.80452043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75534706999997 meters 0.022706850393047293 Centerline is valid? [True, True] Translation: X:-140.57, Y:17.17, Z:-9.81 [[ 9.70690922e-01 -1.47891738e-01 -1.89439086e-01 -1.40566730e+02] [ 1.44638881e-01 9.88999996e-01 -3.09612951e-02 1.71716878e+01] [ 1.91934175e-01 2.65359066e-03 9.81404214e-01 -9.81231099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81534706999997 meters 0.02714057513968462 Centerline is valid? [True, True] Translation: X:-140.63, Y:17.18, Z:-9.83 [[ 9.72562396e-01 -1.30630909e-01 -1.92504421e-01 -1.40625950e+02] [ 1.26942168e-01 9.91412131e-01 -3.14272708e-02 1.71777224e+01] [ 1.94956592e-01 6.12805323e-03 9.80792728e-01 -9.83411283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87534706999998 meters 0.030956946135400638 Centerline is valid? [True, True] Translation: X:-140.69, Y:17.18, Z:-9.85 [[ 9.73537630e-01 -1.21900990e-01 -1.93299331e-01 -1.40685151e+02] [ 1.18012709e-01 9.92510813e-01 -3.15481580e-02 1.71795944e+01] [ 1.95697428e-01 7.90154139e-03 9.80632491e-01 -9.85326230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93534706999998 meters 0.03179626560807674 Centerline is valid? [True, True] Translation: X:-140.74, Y:17.17, Z:-9.87 [[ 9.73688692e-01 -1.18639941e-01 -1.94563343e-01 -1.40742554e+02] [ 1.14640311e-01 9.92900175e-01 -3.17307636e-02 1.71737597e+01] [ 1.96946514e-01 8.59108345e-03 9.80376593e-01 -9.86741764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99534706999998 meters 0.030571552957814878 Centerline is valid? [True, True] Translation: X:-140.80, Y:17.16, Z:-9.88 [[ 9.73456257e-01 -1.16948815e-01 -1.96738128e-01 -1.40799390e+02] [ 1.12835626e-01 9.93097360e-01 -3.20274174e-02 1.71638487e+01] [ 1.99125684e-01 8.97822005e-03 9.79932831e-01 -9.87732523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05534706999998 meters 0.03052410131871056 Centerline is valid? [True, True] Translation: X:-140.86, Y:17.15, Z:-9.89 [[ 9.73265800e-01 -1.17792014e-01 -1.97176885e-01 -1.40856073e+02] [ 1.13684753e-01 9.92999393e-01 -3.20621566e-02 1.71546548e+01] [ 1.99573194e-01 8.78899496e-03 9.79843505e-01 -9.89111737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11534706999998 meters 0.03125713310144377 Centerline is valid? [True, True] Translation: X:-140.91, Y:17.15, Z:-9.91 [[ 9.72824725e-01 -1.19094630e-01 -1.98566171e-01 -1.40911932e+02] [ 1.14973709e-01 9.92846583e-01 -3.21979791e-02 1.71473629e+01] [ 2.00980351e-01 8.49310102e-03 9.79558455e-01 -9.90754967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17534707 meters 0.030098467540317773 Centerline is valid? [True, True] Translation: X:-140.97, Y:17.14, Z:-9.92 [[ 9.71941621e-01 -1.22209911e-01 -2.00983142e-01 -1.40967156e+02] [ 1.18073052e-01 9.92473249e-01 -3.24900600e-02 1.71355309e+01] [ 2.03441000e-01 7.84774866e-03 9.79055756e-01 -9.92115694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23534707 meters 0.02954437599228526 Centerline is valid? [True, True] Translation: X:-141.02, Y:17.12, Z:-9.93 [[ 9.71348543e-01 -1.25383273e-01 -2.01893644e-01 -1.41023278e+02] [ 1.21295612e-01 9.92082815e-01 -3.25432436e-02 1.71240960e+01] [ 2.04375593e-01 7.12201907e-03 9.78866637e-01 -9.93317662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29534707 meters 0.028502628458245107 Centerline is valid? [True, True] Translation: X:-141.08, Y:17.11, Z:-9.95 [[ 9.70710102e-01 -1.27373806e-01 -2.03710116e-01 -1.41079885e+02] [ 1.23272821e-01 9.91832305e-01 -3.27489002e-02 1.71126906e+01] [ 2.06217626e-01 6.67776752e-03 9.78483366e-01 -9.94539863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35534707 meters 0.027339845247174088 Centerline is valid? [True, True] Translation: X:-141.14, Y:17.10, Z:-9.95 [[ 9.70556215e-01 -1.28658100e-01 -2.03636259e-01 -1.41135845e+02] [ 1.24602856e-01 9.91668799e-01 -3.26668068e-02 1.71005638e+01] [ 2.06142574e-01 6.33131275e-03 9.78501484e-01 -9.95195921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41534707 meters 0.029304421548642493 Centerline is valid? [True, True] Translation: X:-141.19, Y:17.10, Z:-9.98 [[ 9.70369781e-01 -1.32044892e-01 -2.02352749e-01 -1.41192402e+02] [ 1.28119464e-01 9.91228206e-01 -3.24352659e-02 1.70952694e+01] [ 2.04860663e-01 5.54887611e-03 9.78775418e-01 -9.97784600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47534707 meters 0.02671713732795458 Centerline is valid? [True, True] Translation: X:-141.25, Y:17.08, Z:-9.98 [[ 9.70157102e-01 -1.35355371e-01 -2.01181809e-01 -1.41248991e+02] [ 1.31549620e-01 9.90785469e-01 -3.22312232e-02 1.70789340e+01] [ 2.03690682e-01 4.80395957e-03 9.79023507e-01 -9.97904536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53534706999997 meters 0.028559774342752444 Centerline is valid? [True, True] Translation: X:-141.30, Y:17.07, Z:-10.01 [[ 9.69290949e-01 -1.37097409e-01 -2.04155229e-01 -1.41304730e+02] [ 1.33223986e-01 9.90547515e-01 -3.26648213e-02 1.70732671e+01] [ 2.06703717e-01 4.46334240e-03 9.78393404e-01 -1.00064678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59534706999997 meters 0.028456156839819734 Centerline is valid? [True, True] Translation: X:-141.36, Y:17.06, Z:-10.02 [[ 9.69470142e-01 -1.36908985e-01 -2.03429528e-01 -1.41361068e+02] [ 1.33075809e-01 9.90573825e-01 -3.24703773e-02 1.70608576e+01] [ 2.05957452e-01 4.40751226e-03 9.78551021e-01 -1.00186192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65534706999998 meters 0.028626664240099173 Centerline is valid? [True, True] Translation: X:-141.42, Y:17.05, Z:-10.03 [[ 9.69891537e-01 -1.35202442e-01 -2.02560375e-01 -1.41417267e+02] [ 1.31380598e-01 9.90806961e-01 -3.22599639e-02 1.70497042e+01] [ 2.05059856e-01 4.67616277e-03 9.78738264e-01 -1.00308001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71534706999998 meters 0.028705702824350508 Centerline is valid? [True, True] Translation: X:-141.47, Y:17.04, Z:-10.04 [[ 9.70472470e-01 -1.32384996e-01 -2.01636795e-01 -1.41473318e+02] [ 1.28554101e-01 9.91184891e-01 -3.20367714e-02 1.70402709e+01] [ 2.04100533e-01 5.16956765e-03 9.78936284e-01 -1.00421251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77534706999998 meters 0.029531036783229166 Centerline is valid? [True, True] Translation: X:-141.53, Y:17.03, Z:-10.05 [[ 9.71292824e-01 -1.27500040e-01 -2.00833240e-01 -1.41529953e+02] [ 1.23611503e-01 9.91819816e-01 -3.18378604e-02 1.70314398e+01] [ 2.03249716e-01 6.09858668e-03 9.79107941e-01 -1.00485513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83534706999998 meters 0.029341906188260592 Centerline is valid? [True, True] Translation: X:-141.59, Y:17.02, Z:-10.06 [[ 9.71949226e-01 -1.23850823e-01 -1.99939181e-01 -1.41585712e+02] [ 1.19928411e-01 9.92277593e-01 -3.16599822e-02 1.70197573e+01] [ 2.02316284e-01 6.79350697e-03 9.79296671e-01 -1.00573350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89534706999999 meters 0.029240545531702293 Centerline is valid? [True, True] Translation: X:-141.64, Y:17.01, Z:-10.07 [[ 9.72598129e-01 -1.22746519e-01 -1.97449164e-01 -1.41642160e+02] [ 1.18905588e-01 9.92414035e-01 -3.12384990e-02 1.70068694e+01] [ 1.99785738e-01 6.90469674e-03 9.79815281e-01 -1.00659584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95534707 meters 0.02914029951719905 Centerline is valid? [True, True] Translation: X:-141.70, Y:16.99, Z:-10.08 [[ 9.72665942e-01 -1.23625284e-01 -1.96564887e-01 -1.41698148e+02] [ 1.19842558e-01 9.92306592e-01 -3.10707041e-02 1.69937114e+01] [ 1.98893758e-01 6.66457677e-03 9.79998396e-01 -1.00773885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01534707 meters 0.02744045644027305 Centerline is valid? [True, True] Translation: X:-141.75, Y:16.98, Z:-10.09 [[ 9.72335584e-01 -1.25254711e-01 -1.97166856e-01 -1.41753543e+02] [ 1.21488302e-01 9.92104500e-01 -3.11328385e-02 1.69774142e+01] [ 1.99509660e-01 6.31810026e-03 9.79875491e-01 -1.00877989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07534707 meters 0.02743804073861123 Centerline is valid? [True, True] Translation: X:-141.81, Y:16.97, Z:-10.10 [[ 9.72206209e-01 -1.26376745e-01 -1.97088827e-01 -1.41809765e+02] [ 1.22647434e-01 9.91963995e-01 -3.10651010e-02 1.69652576e+01] [ 1.99430927e-01 6.02924514e-03 9.79893338e-01 -1.01010048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13534707 meters 0.026730580962360865 Centerline is valid? [True, True] Translation: X:-141.86, Y:16.95, Z:-10.11 [[ 9.72363759e-01 -1.26633343e-01 -1.96144631e-01 -1.41864874e+02] [ 1.22959174e-01 9.91932180e-01 -3.08478680e-02 1.69521178e+01] [ 1.98468540e-01 5.87756703e-03 9.80089635e-01 -1.01119968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19534707 meters 0.02671599892724864 Centerline is valid? [True, True] Translation: X:-141.92, Y:16.94, Z:-10.13 [[ 9.72329944e-01 -1.28613166e-01 -1.95020852e-01 -1.41920231e+02] [ 1.25029774e-01 9.91680157e-01 -3.06271408e-02 1.69379015e+01] [ 1.97337363e-01 5.39627295e-03 9.80320787e-01 -1.01266671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25534706999997 meters 0.025011901723496526 Centerline is valid? [True, True] Translation: X:-141.98, Y:16.92, Z:-10.14 [[ 9.71882117e-01 -1.31522993e-01 -1.95312195e-01 -1.41975198e+02] [ 1.28003696e-01 9.91301842e-01 -3.05894008e-02 1.69187388e+01] [ 1.97636549e-01 4.72860879e-03 9.80263962e-01 -1.01381073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31534706999997 meters 0.02422774281130721 Centerline is valid? [True, True] Translation: X:-142.03, Y:16.90, Z:-10.15 [[ 9.71767330e-01 -1.32930236e-01 -1.94930265e-01 -1.42029952e+02] [ 1.29467463e-01 9.91115807e-01 -3.04570843e-02 1.69016612e+01] [ 1.97247134e-01 4.36007267e-03 9.80344102e-01 -1.01479236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37534706999998 meters 0.025591029893647053 Centerline is valid? [True, True] Translation: X:-142.08, Y:16.89, Z:-10.17 [[ 9.71739299e-01 -1.33107588e-01 -1.94948980e-01 -1.42084321e+02] [ 1.29660247e-01 9.91092433e-01 -3.03975232e-02 1.68903912e+01] [ 1.97258600e-01 4.26133500e-03 9.80342229e-01 -1.01680600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43534706999998 meters 0.024251317499703797 Centerline is valid? [True, True] Translation: X:-142.14, Y:16.88, Z:-10.17 [[ 9.71623534e-01 -1.31933282e-01 -1.96319425e-01 -1.42139822e+02] [ 1.28430018e-01 9.91248621e-01 -3.05270652e-02 1.68758268e+01] [ 1.98628895e-01 4.44750785e-03 9.80064682e-01 -1.01745716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49534706999998 meters 0.025093145752877417 Centerline is valid? [True, True] Translation: X:-142.20, Y:16.86, Z:-10.19 [[ 9.71458377e-01 -1.31081475e-01 -1.97702474e-01 -1.42195377e+02] [ 1.27520285e-01 9.91360892e-01 -3.06946061e-02 1.68638040e+01] [ 2.00017995e-01 4.60745637e-03 9.79781390e-01 -1.01906729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55534706999998 meters 0.025259117933379018 Centerline is valid? [True, True] Translation: X:-142.25, Y:16.85, Z:-10.20 [[ 9.71169721e-01 -1.32187730e-01 -1.98382906e-01 -1.42250223e+02] [ 1.28643566e-01 9.91215367e-01 -3.07071510e-02 1.68507428e+01] [ 2.00699294e-01 4.30117086e-03 9.79643452e-01 -1.02028720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61534706999998 meters 0.02418729441062686 Centerline is valid? [True, True] Translation: X:-142.31, Y:16.83, Z:-10.21 [[ 9.71249327e-01 -1.34016416e-01 -1.96759611e-01 -1.42305784e+02] [ 1.30587415e-01 9.90971855e-01 -3.03596720e-02 1.68331328e+01] [ 1.99051932e-01 3.79248208e-03 9.79981605e-01 -1.02148117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67534707 meters 0.025325738010491643 Centerline is valid? [True, True] Translation: X:-142.36, Y:16.82, Z:-10.23 [[ 9.71503502e-01 -1.32860234e-01 -1.96288318e-01 -1.42361420e+02] [ 1.29442853e-01 9.91127001e-01 -3.01962953e-02 1.68235854e+01] [ 1.98558539e-01 3.92768664e-03 9.80081160e-01 -1.02264934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73534707 meters 0.024400470037954702 Centerline is valid? [True, True] Translation: X:-142.42, Y:16.81, Z:-10.23 [[ 9.71520697e-01 -1.33108645e-01 -1.96034753e-01 -1.42416592e+02] [ 1.29722551e-01 9.91094225e-01 -3.00715382e-02 1.68071588e+01] [ 1.98291694e-01 3.78499354e-03 9.80135745e-01 -1.02334628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79534707 meters 0.02456505299393174 Centerline is valid? [True, True] Translation: X:-142.47, Y:16.79, Z:-10.24 [[ 9.71812199e-01 -1.34803092e-01 -1.93414519e-01 -1.42472698e+02] [ 1.31549010e-01 9.90866738e-01 -2.96304944e-02 1.67880064e+01] [ 1.95642296e-01 3.35178744e-03 9.80669597e-01 -1.02445154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85534707 meters 0.023618444253387785 Centerline is valid? [True, True] Translation: X:-142.53, Y:16.77, Z:-10.25 [[ 9.72278599e-01 -1.34079934e-01 -1.91564341e-01 -1.42528019e+02] [ 1.30879212e-01 9.90964552e-01 -2.93238532e-02 1.67735620e+01] [ 1.93765212e-01 3.43916485e-03 9.81041903e-01 -1.02518777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91534707 meters 0.02471675291133494 Centerline is valid? [True, True] Translation: X:-142.58, Y:16.76, Z:-10.26 [[ 9.72865245e-01 -1.32548663e-01 -1.89641942e-01 -1.42584353e+02] [ 1.29391340e-01 9.91169719e-01 -2.89908640e-02 1.67613018e+01] [ 1.91810051e-01 3.66617905e-03 9.81425221e-01 -1.02614114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97534707 meters 0.025045758998634867 Centerline is valid? [True, True] Translation: X:-142.64, Y:16.75, Z:-10.27 [[ 9.72848738e-01 -1.30967302e-01 -1.90821641e-01 -1.42640638e+02] [ 1.27751407e-01 9.91378839e-01 -2.91131393e-02 1.67482510e+01] [ 1.92989406e-01 3.94494771e-03 9.81192910e-01 -1.02719816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03534706999997 meters 0.02447975997615594 Centerline is valid? [True, True] Translation: X:-142.70, Y:16.74, Z:-10.28 [[ 9.73055619e-01 -1.31586676e-01 -1.89334914e-01 -1.42697724e+02] [ 1.28449667e-01 9.91297748e-01 -2.88003150e-02 1.67356160e+01] [ 1.91477012e-01 3.70430171e-03 9.81490108e-01 -1.02815843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09534706999997 meters 0.025423067108718993 Centerline is valid? [True, True] Translation: X:-142.75, Y:16.73, Z:-10.29 [[ 9.73244419e-01 -1.30942817e-01 -1.88810169e-01 -1.42754380e+02] [ 1.27828046e-01 9.91382893e-01 -2.86347752e-02 1.67267465e+01] [ 1.90932689e-01 3.73340020e-03 9.81596032e-01 -1.02941501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15534706999998 meters 0.024784057299616778 Centerline is valid? [True, True] Translation: X:-142.81, Y:16.72, Z:-10.30 [[ 9.73628791e-01 -1.28986073e-01 -1.88174308e-01 -1.42810620e+02] [ 1.25870946e-01 9.91638231e-01 -2.84626761e-02 1.67169773e+01] [ 1.90272127e-01 4.02640269e-03 9.81723131e-01 -1.02991336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21534706999998 meters 0.025999432245361092 Centerline is valid? [True, True] Translation: X:-142.87, Y:16.71, Z:-10.31 [[ 9.74226893e-01 -1.25620456e-01 -1.87353842e-01 -1.42867603e+02] [ 1.22481256e-01 9.92067666e-01 -2.82858321e-02 1.67091066e+01] [ 1.89420968e-01 4.60948446e-03 9.81885151e-01 -1.03097726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27534706999998 meters 0.026305251927854628 Centerline is valid? [True, True] Translation: X:-142.92, Y:16.70, Z:-10.32 [[ 9.74732366e-01 -1.23489060e-01 -1.86137764e-01 -1.42924171e+02] [ 1.20369286e-01 9.92333830e-01 -2.80143770e-02 1.66999038e+01] [ 1.88170269e-01 4.90125023e-03 9.82124192e-01 -1.03158594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33534706999998 meters 0.02823813808439107 Centerline is valid? [True, True] Translation: X:-142.98, Y:16.69, Z:-10.33 [[ 9.75411648e-01 -1.23581332e-01 -1.82482249e-01 -1.42982393e+02] [ 1.20599913e-01 9.92323276e-01 -2.73893667e-02 1.66918758e+01] [ 1.84466198e-01 4.70856396e-03 9.82827580e-01 -1.03264715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39534706999999 meters 0.02601030731551525 Centerline is valid? [True, True] Translation: X:-143.04, Y:16.68, Z:-10.33 [[ 9.75036266e-01 -1.22468229e-01 -1.85218283e-01 -1.43038856e+02] [ 1.19378975e-01 9.92459947e-01 -2.77833369e-02 1.66786580e+01] [ 1.87224304e-01 4.97859225e-03 9.82304573e-01 -1.03309107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45534707 meters 0.025737649571104915 Centerline is valid? [True, True] Translation: X:-143.10, Y:16.67, Z:-10.34 [[ 9.74663272e-01 -1.27762645e-01 -1.83597963e-01 -1.43095888e+02] [ 1.24826064e-01 9.91797114e-01 -2.75125222e-02 1.66653618e+01] [ 1.85607002e-01 3.89763388e-03 9.82616329e-01 -1.03409998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51534707 meters 0.024704863141568428 Centerline is valid? [True, True] Translation: X:-143.15, Y:16.65, Z:-10.34 [[ 9.74958666e-01 -1.29208400e-01 -1.80999416e-01 -1.43152932e+02] [ 1.26383809e-01 9.91611113e-01 -2.71022700e-02 1.66540521e+01] [ 1.82982874e-01 3.54819728e-03 9.83109698e-01 -1.03429435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57534707 meters 0.025043437044422207 Centerline is valid? [True, True] Translation: X:-143.21, Y:16.64, Z:-10.35 [[ 9.75584531e-01 -1.27232503e-01 -1.79015956e-01 -1.43210940e+02] [ 1.24444687e-01 9.91865514e-01 -2.67642045e-02 1.66433788e+01] [ 1.80965030e-01 3.83315920e-03 9.83482061e-01 -1.03485589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63534707 meters 0.025527395738163317 Centerline is valid? [True, True] Translation: X:-143.27, Y:16.63, Z:-10.36 [[ 9.76262961e-01 -1.22733069e-01 -1.78457908e-01 -1.43268399e+02] [ 1.19903642e-01 9.92429207e-01 -2.65967348e-02 1.66331961e+01] [ 1.80371139e-01 4.56765397e-03 9.83588018e-01 -1.03589545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69534707 meters 0.026725242820099703 Centerline is valid? [True, True] Translation: X:-143.32, Y:16.62, Z:-10.37 [[ 9.77139150e-01 -1.20002198e-01 -1.75495170e-01 -1.43324951e+02] [ 1.17235223e-01 9.92761444e-01 -2.60886361e-02 1.66228295e+01] [ 1.77355532e-01 4.91801233e-03 9.84134558e-01 -1.03689094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75534706999997 meters 0.02523426767393911 Centerline is valid? [True, True] Translation: X:-143.38, Y:16.60, Z:-10.37 [[ 9.76809075e-01 -1.29461083e-01 -1.70539902e-01 -1.43382425e+02] [ 1.26996863e-01 9.91579715e-01 -2.53271854e-02 1.66009375e+01] [ 1.72382793e-01 3.08179190e-03 9.85025216e-01 -1.03744057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81534706999997 meters 0.024149878574526735 Centerline is valid? [True, True] Translation: X:-143.44, Y:16.59, Z:-10.38 [[ 9.76686056e-01 -1.34178950e-01 -1.67571945e-01 -1.43439829e+02] [ 1.31870998e-01 9.90954678e-01 -2.48770384e-02 1.65867931e+01] [ 1.69394178e-01 2.19917693e-03 9.85545928e-01 -1.03811899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87534706999998 meters 0.02515694279391425 Centerline is valid? [True, True] Translation: X:-143.50, Y:16.58, Z:-10.40 [[ 9.77086463e-01 -1.29671526e-01 -1.68781928e-01 -1.43496555e+02] [ 1.27268384e-01 9.91552552e-01 -2.50258872e-02 1.65809749e+01] [ 1.70601296e-01 2.97185228e-03 9.85335661e-01 -1.03960090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93534706999998 meters 0.024205942087705844 Centerline is valid? [True, True] Translation: X:-143.55, Y:16.57, Z:-10.40 [[ 9.76762927e-01 -1.31537777e-01 -1.69209921e-01 -1.43552015e+02] [ 1.29161807e-01 9.91307788e-01 -2.50219295e-02 1.65683471e+01] [ 1.71030442e-01 2.58503391e-03 9.85262354e-01 -1.04049353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99534706999998 meters 0.02381705916524701 Centerline is valid? [True, True] Translation: X:-143.61, Y:16.56, Z:-10.41 [[ 9.76814259e-01 -1.34383805e-01 -1.66658025e-01 -1.43607720e+02] [ 1.32125053e-01 9.90927282e-01 -2.46189313e-02 1.65557490e+01] [ 1.68454369e-01 2.02842272e-03 9.85707366e-01 -1.04135698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05534706999998 meters 0.025684716992757785 Centerline is valid? [True, True] Translation: X:-143.67, Y:16.55, Z:-10.42 [[ 9.77895410e-01 -1.29702434e-01 -1.64005625e-01 -1.43665297e+02] [ 1.27455966e-01 9.91549137e-01 -2.41926588e-02 1.65503564e+01] [ 1.65757482e-01 2.75439463e-03 9.86162700e-01 -1.04206169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11534706999998 meters 0.025494560143431298 Centerline is valid? [True, True] Translation: X:-143.72, Y:16.54, Z:-10.43 [[ 9.78290362e-01 -1.24709955e-01 -1.65515545e-01 -1.43722620e+02] [ 1.22365576e-01 9.92186906e-01 -2.43271467e-02 1.65427117e+01] [ 1.67256194e-01 3.54560819e-03 9.85907092e-01 -1.04312984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17534707 meters 0.024992855122255634 Centerline is valid? [True, True] Translation: X:-143.78, Y:16.53, Z:-10.44 [[ 9.77807923e-01 -1.28372243e-01 -1.65566403e-01 -1.43778779e+02] [ 1.26091316e-01 9.91721976e-01 -2.42590667e-02 1.65278567e+01] [ 1.67310032e-01 2.84422193e-03 9.85900230e-01 -1.04425871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23534707 meters 0.024119633236662004 Centerline is valid? [True, True] Translation: X:-143.84, Y:16.52, Z:-10.45 [[ 9.77394447e-01 -1.31315230e-01 -1.65699744e-01 -1.43835620e+02] [ 1.29085514e-01 9.91338074e-01 -2.42023476e-02 1.65162052e+01] [ 1.67442602e-01 2.26580357e-03 9.85879222e-01 -1.04548766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29534707 meters 0.02371289383292182 Centerline is valid? [True, True] Translation: X:-143.89, Y:16.51, Z:-10.46 [[ 9.78025039e-01 -1.30260027e-01 -1.62786207e-01 -1.43893295e+02] [ 1.28106053e-01 9.91477127e-01 -2.37053884e-02 1.65056105e+01] [ 1.64486665e-01 2.33056501e-03 9.86376554e-01 -1.04604907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35534707 meters 0.02371168704178321 Centerline is valid? [True, True] Translation: X:-143.95, Y:16.49, Z:-10.47 [[ 9.77993922e-01 -1.31459779e-01 -1.62006839e-01 -1.43949896e+02] [ 1.29354335e-01 9.91319388e-01 -2.35229209e-02 1.64916469e+01] [ 1.63692839e-01 2.04898679e-03 9.86509228e-01 -1.04709969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41534707 meters 0.02239199230661989 Centerline is valid? [True, True] Translation: X:-144.00, Y:16.47, Z:-10.48 [[ 9.76609463e-01 -1.36326595e-01 -1.66279935e-01 -1.44004059e+02] [ 1.34189132e-01 9.90663222e-01 -2.40760723e-02 1.64721562e+01] [ 1.68009625e-01 1.19995987e-03 9.85784625e-01 -1.04829891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47534707 meters 0.02250774825902984 Centerline is valid? [True, True] Translation: X:-144.06, Y:16.46, Z:-10.49 [[ 9.76405501e-01 -1.36445807e-01 -1.67376343e-01 -1.44060416e+02] [ 1.34287427e-01 9.90646865e-01 -2.42007225e-02 1.64572962e+01] [ 1.69112936e-01 1.15318018e-03 9.85596005e-01 -1.04933644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53534706999997 meters 0.02181470514830104 Centerline is valid? [True, True] Translation: X:-144.12, Y:16.44, Z:-10.50 [[ 9.76566330e-01 -1.35570916e-01 -1.67148828e-01 -1.44116136e+02] [ 1.33419073e-01 9.90766888e-01 -2.40899104e-02 1.64438808e+01] [ 1.68871415e-01 1.22455370e-03 9.85637330e-01 -1.05009577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59534706999997 meters 0.022179317138472567 Centerline is valid? [True, True] Translation: X:-144.17, Y:16.43, Z:-10.51 [[ 9.76471806e-01 -1.35400067e-01 -1.67838116e-01 -1.44171751e+02] [ 1.33243209e-01 9.90790318e-01 -2.40996401e-02 1.64320333e+01] [ 1.69555473e-01 1.16932991e-03 9.85519951e-01 -1.05115966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65534706999998 meters 0.021901967367124495 Centerline is valid? [True, True] Translation: X:-144.23, Y:16.42, Z:-10.52 [[ 9.76630176e-01 -1.33939295e-01 -1.68088563e-01 -1.44227526e+02] [ 1.31770260e-01 9.90988642e-01 -2.40439231e-02 1.64193265e+01] [ 1.69794283e-01 1.33294720e-03 9.85478627e-01 -1.05225930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71534706999998 meters 0.022164205972617233 Centerline is valid? [True, True] Translation: X:-144.28, Y:16.41, Z:-10.53 [[ 9.77555202e-01 -1.28396879e-01 -1.67033134e-01 -1.44283652e+02] [ 1.26190162e-01 9.91720444e-01 -2.38034240e-02 1.64087453e+01] [ 1.68706460e-01 2.19122263e-03 9.85663903e-01 -1.05324835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77534706999998 meters 0.023381131240268773 Centerline is valid? [True, True] Translation: X:-144.34, Y:16.40, Z:-10.54 [[ 9.78255543e-01 -1.20341780e-01 -1.68919946e-01 -1.44340319e+02] [ 1.17979171e-01 9.92726205e-01 -2.39916009e-02 1.63976577e+01] [ 1.70578449e-01 3.54088129e-03 9.85337737e-01 -1.05429441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83534706999998 meters 0.02277353325322177 Centerline is valid? [True, True] Translation: X:-144.40, Y:16.38, Z:-10.55 [[ 9.77769369e-01 -1.25222239e-01 -1.68185765e-01 -1.44396046e+02] [ 1.22957072e-01 9.92125185e-01 -2.38574183e-02 1.63798841e+01] [ 1.69848813e-01 2.64742364e-03 9.85466576e-01 -1.05531934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89534706999999 meters 0.021987221618097644 Centerline is valid? [True, True] Translation: X:-144.45, Y:16.36, Z:-10.56 [[ 9.77314392e-01 -1.30774846e-01 -1.66596875e-01 -1.44451070e+02] [ 1.28644331e-01 9.91410807e-01 -2.35636991e-02 1.63613486e+01] [ 1.68247482e-01 1.59739861e-03 9.85743493e-01 -1.05624788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95534707 meters 0.02136510102865238 Centerline is valid? [True, True] Translation: X:-144.51, Y:16.34, Z:-10.57 [[ 9.76873569e-01 -1.32533919e-01 -1.67787935e-01 -1.44506835e+02] [ 1.30404684e-01 9.91177661e-01 -2.36952127e-02 1.63440722e+01] [ 1.69448072e-01 1.26689439e-03 9.85538303e-01 -1.05717230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01534707 meters 0.021933252590000937 Centerline is valid? [True, True] Translation: X:-144.56, Y:16.33, Z:-10.58 [[ 9.76754202e-01 -1.32615134e-01 -1.68417503e-01 -1.44562014e+02] [ 1.30486658e-01 9.91166922e-01 -2.36931547e-02 1.63314709e+01] [ 1.70071929e-01 1.16615123e-03 9.85430961e-01 -1.05845823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07534707 meters 0.023744992087045003 Centerline is valid? [True, True] Translation: X:-144.62, Y:16.32, Z:-10.59 [[ 9.76576202e-01 -1.37638251e-01 -1.65392361e-01 -1.44617738e+02] [ 1.35671201e-01 9.90482544e-01 -2.31874011e-02 1.63155449e+01] [ 1.67009720e-01 2.05283798e-04 9.85955228e-01 -1.05892980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13534707 meters 0.02093282144910179 Centerline is valid? [True, True] Translation: X:-144.67, Y:16.30, Z:-10.60 [[ 9.76249857e-01 -1.38412618e-01 -1.66667827e-01 -1.44674126e+02] [ 1.36431944e-01 9.90374649e-01 -2.33319307e-02 1.62993107e+01] [ 1.68293025e-01 3.89782635e-05 9.85737012e-01 -1.06003528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19534707 meters 0.020912228272049523 Centerline is valid? [True, True] Translation: X:-144.73, Y:16.28, Z:-10.61 [[ 9.76156560e-01 -1.39836770e-01 -1.66024242e-01 -1.44729029e+02] [ 1.37905281e-01 9.90174528e-01 -2.31632676e-02 1.62830880e+01] [ 1.67632052e-01 -2.84644111e-04 9.85849590e-01 -1.06117092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25534706999997 meters 0.020702076222480992 Centerline is valid? [True, True] Translation: X:-144.79, Y:16.27, Z:-10.62 [[ 9.75775200e-01 -1.42169793e-01 -1.66284422e-01 -1.44785170e+02] [ 1.40279760e-01 9.89841987e-01 -2.31177361e-02 1.62687561e+01] [ 1.67881946e-01 -7.68625161e-04 9.85806807e-01 -1.06193169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31534706999997 meters 0.020772263297822207 Centerline is valid? [True, True] Translation: X:-144.84, Y:16.25, Z:-10.63 [[ 9.75278533e-01 -1.43606867e-01 -1.67954909e-01 -1.44841700e+02] [ 1.41704668e-01 9.89634252e-01 -2.33202685e-02 1.62537346e+01] [ 1.69562881e-01 -1.05623735e-03 9.85518804e-01 -1.06324167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37534706999998 meters 0.02026967874148998 Centerline is valid? [True, True] Translation: X:-144.90, Y:16.24, Z:-10.64 [[ 9.74667071e-01 -1.46768425e-01 -1.68769461e-01 -1.44897714e+02] [ 1.44901671e-01 9.89169495e-01 -2.33926306e-02 1.62386128e+01] [ 1.70374903e-01 -1.65495022e-03 9.85377924e-01 -1.06389585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43534706999998 meters 0.020597347268355926 Centerline is valid? [True, True] Translation: X:-144.95, Y:16.22, Z:-10.65 [[ 9.75049829e-01 -1.46574449e-01 -1.66714613e-01 -1.44954119e+02] [ 1.44756206e-01 9.89198290e-01 -2.30734494e-02 1.62213275e+01] [ 1.68295789e-01 -1.63521196e-03 9.85735184e-01 -1.06481676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49534706999998 meters 0.020321387296450374 Centerline is valid? [True, True] Translation: X:-145.01, Y:16.21, Z:-10.66 [[ 9.75027838e-01 -1.45417068e-01 -1.67852884e-01 -1.45009189e+02] [ 1.43570783e-01 9.89369265e-01 -2.31492448e-02 1.62060775e+01] [ 1.69434780e-01 -1.52761175e-03 9.85540218e-01 -1.06611411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55534706999998 meters 0.019681266958241656 Centerline is valid? [True, True] Translation: X:-145.07, Y:16.19, Z:-10.67 [[ 9.75417552e-01 -1.41974718e-01 -1.68534205e-01 -1.45065821e+02] [ 1.40076548e-01 9.89869762e-01 -2.31606229e-02 1.61937882e+01] [ 1.70115136e-01 -1.01641147e-03 9.85423669e-01 -1.06688640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61534706999998 meters 0.01971062097880871 Centerline is valid? [True, True] Translation: X:-145.12, Y:16.18, Z:-10.68 [[ 9.75856861e-01 -1.37371139e-01 -1.69801523e-01 -1.45122184e+02] [ 1.35379654e-01 9.90519617e-01 -2.33074669e-02 1.61820643e+01] [ 1.71393513e-01 -2.42920022e-04 9.85202621e-01 -1.06802852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67534707 meters 0.019667362697693147 Centerline is valid? [True, True] Translation: X:-145.18, Y:16.17, Z:-10.69 [[ 9.76889552e-01 -1.30697607e-01 -1.69129945e-01 -1.45178692e+02] [ 1.28628359e-01 9.91421879e-01 -2.31819747e-02 1.61726142e+01] [ 1.70708956e-01 8.91321611e-04 9.85321094e-01 -1.06884531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73534707 meters 0.01977747912918086 Centerline is valid? [True, True] Translation: X:-145.24, Y:16.16, Z:-10.70 [[ 9.78519289e-01 -1.20471988e-01 -1.67291667e-01 -1.45235966e+02] [ 1.18314175e-01 9.92713428e-01 -2.28430854e-02 1.61640253e+01] [ 1.68824637e-01 2.55942404e-03 9.85642781e-01 -1.06982277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79534707 meters 0.020600604082818566 Centerline is valid? [True, True] Translation: X:-145.29, Y:16.15, Z:-10.71 [[ 9.79283346e-01 -1.12156689e-01 -1.68597170e-01 -1.45292852e+02] [ 1.09854584e-01 9.93682668e-01 -2.29505234e-02 1.61548227e+01] [ 1.70106140e-01 3.95389338e-03 9.85417814e-01 -1.07066886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85534707 meters 0.022038033801290914 Centerline is valid? [True, True] Translation: X:-145.35, Y:16.15, Z:-10.72 [[ 9.79696933e-01 -1.05752773e-01 -1.70324017e-01 -1.45350719e+02] [ 1.03310325e-01 9.94379382e-01 -2.31650708e-02 1.61460570e+01] [ 1.71816462e-01 5.09851915e-03 9.85115784e-01 -1.07187528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91534707 meters 0.02259350885972253 Centerline is valid? [True, True] Translation: X:-145.41, Y:16.13, Z:-10.73 [[ 9.79785240e-01 -1.02550572e-01 -1.71768050e-01 -1.45407977e+02] [ 1.00019628e-01 9.94711483e-01 -2.33482089e-02 1.61343132e+01] [ 1.73254024e-01 5.69605394e-03 9.84860700e-01 -1.07282193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97534707 meters 0.022317799251307925 Centerline is valid? [True, True] Translation: X:-145.46, Y:16.12, Z:-10.74 [[ 9.79911934e-01 -1.03080882e-01 -1.70724730e-01 -1.45464329e+02] [ 1.00594282e-01 9.94657571e-01 -2.31755628e-02 1.61198971e+01] [ 1.72201602e-01 5.53607893e-03 9.85046171e-01 -1.07373814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03534706999997 meters 0.021704565504038535 Centerline is valid? [True, True] Translation: X:-145.52, Y:16.10, Z:-10.75 [[ 9.79676664e-01 -1.05369728e-01 -1.70677633e-01 -1.45520870e+02] [ 1.02932341e-01 9.94420267e-01 -2.30925430e-02 1.61048274e+01] [ 1.72158553e-01 5.05497708e-03 9.85056283e-01 -1.07463601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09534706999997 meters 0.019816998306003978 Centerline is valid? [True, True] Translation: X:-145.58, Y:16.08, Z:-10.76 [[ 9.78429772e-01 -1.13674445e-01 -1.72491454e-01 -1.45577172e+02] [ 1.11323909e-01 9.93511646e-01 -2.32722106e-02 1.60846786e+01] [ 1.74017724e-01 3.56780073e-03 9.84736057e-01 -1.07587872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15534706999998 meters 0.01958200599651238 Centerline is valid? [True, True] Translation: X:-145.63, Y:16.07, Z:-10.77 [[ 9.77490220e-01 -1.17632829e-01 -1.75143907e-01 -1.45632644e+02] [ 1.15274519e-01 9.93052943e-01 -2.36143656e-02 1.60698263e+01] [ 1.76704997e-01 2.89318182e-03 9.84259607e-01 -1.07719033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21534706999998 meters 0.01903263050285409 Centerline is valid? [True, True] Translation: X:-145.69, Y:16.06, Z:-10.78 [[ 9.76937924e-01 -1.19778994e-01 -1.76763358e-01 -1.45688959e+02] [ 1.17417117e-01 9.92797442e-01 -2.38004302e-02 1.60563345e+01] [ 1.78341001e-01 2.49649889e-03 9.83965576e-01 -1.07837988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27534706999998 meters 0.01892229024224459 Centerline is valid? [True, True] Translation: X:-145.75, Y:16.04, Z:-10.79 [[ 9.76750698e-01 -1.21017740e-01 -1.76954174e-01 -1.45745175e+02] [ 1.18674888e-01 9.92647793e-01 -2.38039737e-02 1.60419165e+01] [ 1.78533874e-01 2.25053115e-03 9.83931192e-01 -1.07949224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33534706999998 meters 0.02051398378015565 Centerline is valid? [True, True] Translation: X:-145.80, Y:16.03, Z:-10.80 [[ 9.76750252e-01 -1.22680493e-01 -1.75807971e-01 -1.45801961e+02] [ 1.20398782e-01 9.92444377e-01 -2.36281936e-02 1.60268915e+01] [ 1.77378350e-01 1.91177852e-03 9.84140877e-01 -1.08001900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39534706999999 meters 0.01855799135285923 Centerline is valid? [True, True] Translation: X:-145.86, Y:16.01, Z:-10.81 [[ 9.76569765e-01 -1.22250526e-01 -1.77105345e-01 -1.45857968e+02] [ 1.19931723e-01 9.92497294e-01 -2.37803153e-02 1.60144852e+01] [ 1.78683732e-01 1.98258775e-03 9.83904565e-01 -1.08149162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45534707 meters 0.019639501723019093 Centerline is valid? [True, True] Translation: X:-145.91, Y:16.00, Z:-10.82 [[ 9.76805638e-01 -1.22120064e-01 -1.75890408e-01 -1.45914533e+02] [ 1.19835338e-01 9.92513382e-01 -2.35940278e-02 1.60024645e+01] [ 1.77454887e-01 1.96889288e-03 9.84126967e-01 -1.08192101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51534707 meters 0.017718835966511727 Centerline is valid? [True, True] Translation: X:-145.97, Y:15.99, Z:-10.83 [[ 9.76768559e-01 -1.21498659e-01 -1.76525518e-01 -1.45971338e+02] [ 1.19192006e-01 9.92589453e-01 -2.36525784e-02 1.59930976e+01] [ 1.78091123e-01 2.06266439e-03 9.84011838e-01 -1.08309352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57534707 meters 0.018208479861200423 Centerline is valid? [True, True] Translation: X:-146.03, Y:15.98, Z:-10.84 [[ 9.76420367e-01 -1.20357320e-01 -1.79213233e-01 -1.46028283e+02] [ 1.17964388e-01 9.92728011e-01 -2.39895860e-02 1.59827294e+01] [ 1.80797319e-01 2.28314101e-03 9.83517726e-01 -1.08432898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63534707 meters 0.01909301876761394 Centerline is valid? [True, True] Translation: X:-146.09, Y:15.97, Z:-10.85 [[ 9.76668742e-01 -1.16823143e-01 -1.80195789e-01 -1.46085515e+02] [ 1.14348197e-01 9.93148409e-01 -2.40982778e-02 1.59734048e+01] [ 1.81776398e-01 2.93097104e-03 9.83335523e-01 -1.08537834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69534707 meters 0.018553355122773094 Centerline is valid? [True, True] Translation: X:-146.14, Y:15.96, Z:-10.86 [[ 9.76740810e-01 -1.16270630e-01 -1.80162511e-01 -1.46141169e+02] [ 1.13792043e-01 9.93213017e-01 -2.40681122e-02 1.59611648e+01] [ 1.81738166e-01 3.00724727e-03 9.83342359e-01 -1.08614531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75534706999997 meters 0.018039855343908454 Centerline is valid? [True, True] Translation: X:-146.20, Y:15.95, Z:-10.87 [[ 9.76971087e-01 -1.19114289e-01 -1.77029041e-01 -1.46197665e+02] [ 1.16774453e-01 9.92877651e-01 -2.36156256e-02 1.59459578e+01] [ 1.78581136e-01 2.39931409e-03 9.83922264e-01 -1.08729984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81534706999997 meters 0.01843844813717899 Centerline is valid? [True, True] Translation: X:-146.26, Y:15.93, Z:-10.88 [[ 9.78018283e-01 -1.18060437e-01 -1.71877778e-01 -1.46256355e+02] [ 1.15842515e-01 9.93003267e-01 -2.29133831e-02 1.59346701e+01] [ 1.73380359e-01 2.49895350e-03 9.84851769e-01 -1.08797199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87534706999998 meters 0.01815894312280592 Centerline is valid? [True, True] Translation: X:-146.31, Y:15.92, Z:-10.89 [[ 9.76974795e-01 -1.16837066e-01 -1.78519884e-01 -1.46312411e+02] [ 1.14424313e-01 9.93147110e-01 -2.37885237e-02 1.59211684e+01] [ 1.80075889e-01 2.81377293e-03 9.83648696e-01 -1.08924562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93534706999998 meters 0.018352335835312487 Centerline is valid? [True, True] Translation: X:-146.37, Y:15.91, Z:-10.90 [[ 9.77078774e-01 -1.16189073e-01 -1.78373677e-01 -1.46369531e+02] [ 1.13771373e-01 9.93222819e-01 -2.37593610e-02 1.59079995e+01] [ 1.79925384e-01 2.92094919e-03 9.83675924e-01 -1.09027839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99534706999998 meters 0.019113782850862404 Centerline is valid? [True, True] Translation: X:-146.43, Y:15.90, Z:-10.91 [[ 9.77658473e-01 -1.13510510e-01 -1.76916012e-01 -1.46427001e+02] [ 1.11092971e-01 9.93531102e-01 -2.35435880e-02 1.58971118e+01] [ 1.78444005e-01 3.36346286e-03 9.83944320e-01 -1.09082239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05534706999998 meters 0.018126495629134272 Centerline is valid? [True, True] Translation: X:-146.48, Y:15.88, Z:-10.92 [[ 9.77717509e-01 -1.13953263e-01 -1.76304076e-01 -1.46483446e+02] [ 1.11563619e-01 9.93480798e-01 -2.34406091e-02 1.58841916e+01] [ 1.77825848e-01 3.24917310e-03 9.84056609e-01 -1.09179510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11534706999998 meters 0.018631350236135092 Centerline is valid? [True, True] Translation: X:-146.54, Y:15.87, Z:-10.92 [[ 9.77702729e-01 -1.16037807e-01 -1.75021716e-01 -1.46541086e+02] [ 1.13720159e-01 9.93240776e-01 -2.32483786e-02 1.58721011e+01] [ 1.76536396e-01 2.82650577e-03 9.84290055e-01 -1.09238937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17534707 meters 0.017187757763808535 Centerline is valid? [True, True] Translation: X:-146.60, Y:15.86, Z:-10.93 [[ 9.77911420e-01 -1.16585822e-01 -1.73484871e-01 -1.46598689e+02] [ 1.14321430e-01 9.93177002e-01 -2.30229027e-02 1.58609592e+01] [ 1.74985328e-01 2.68132104e-03 9.84567390e-01 -1.09325753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23534707 meters 0.01741921462706695 Centerline is valid? [True, True] Translation: X:-146.66, Y:15.85, Z:-10.94 [[ 9.78599392e-01 -1.13790686e-01 -1.71449436e-01 -1.46656593e+02] [ 1.11540714e-01 9.93499841e-01 -2.27317929e-02 1.58508575e+01] [ 1.72921653e-01 3.12172617e-03 9.84930635e-01 -1.09409262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29534707 meters 0.017255987721450632 Centerline is valid? [True, True] Translation: X:-146.71, Y:15.84, Z:-10.95 [[ 9.78483098e-01 -1.15246852e-01 -1.71140263e-01 -1.46713737e+02] [ 1.13030901e-01 9.93332830e-01 -2.26694504e-02 1.58378318e+01] [ 1.72611824e-01 2.83753595e-03 9.84985841e-01 -1.09498671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35534707 meters 0.01794332568944418 Centerline is valid? [True, True] Translation: X:-146.77, Y:15.82, Z:-10.96 [[ 9.77969041e-01 -1.17014827e-01 -1.72870139e-01 -1.46770844e+02] [ 1.14784675e-01 9.93126945e-01 -2.28768239e-02 1.58247951e+01] [ 1.74358921e-01 2.52998282e-03 9.84678915e-01 -1.09582328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41534707 meters 0.01675368916456892 Centerline is valid? [True, True] Translation: X:-146.83, Y:15.81, Z:-10.96 [[ 9.77860651e-01 -1.21548439e-01 -1.70336503e-01 -1.46828789e+02] [ 1.19455273e-01 9.92584085e-01 -2.25226819e-02 1.58111000e+01] [ 1.71810899e-01 1.67645083e-03 9.85128522e-01 -1.09645977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47534707 meters 0.01591925391577817 Centerline is valid? [True, True] Translation: X:-146.89, Y:15.80, Z:-10.97 [[ 9.77139875e-01 -1.28051036e-01 -1.69707386e-01 -1.46886150e+02] [ 1.26072507e-01 9.91767443e-01 -2.24290466e-02 1.57960846e+01] [ 1.71182323e-01 5.20880188e-04 9.85239230e-01 -1.09737407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53534706999997 meters 0.01616339666886455 Centerline is valid? [True, True] Translation: X:-146.95, Y:15.78, Z:-10.99 [[ 9.76371095e-01 -1.29587497e-01 -1.72935149e-01 -1.46945235e+02] [ 1.27557560e-01 9.91567960e-01 -2.28484275e-02 1.57846701e+01] [ 1.74437824e-01 2.49358550e-04 9.84668159e-01 -1.09872428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59534706999997 meters 0.016522720470485534 Centerline is valid? [True, True] Translation: X:-147.00, Y:15.77, Z:-11.00 [[ 9.76075424e-01 -1.30508027e-01 -1.73909236e-01 -1.47003792e+02] [ 1.28467688e-01 9.91447248e-01 -2.29871122e-02 1.57747207e+01] [ 1.75421836e-01 9.54378764e-05 9.84493357e-01 -1.09961437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65534706999998 meters 0.01646322307888196 Centerline is valid? [True, True] Translation: X:-147.06, Y:15.77, Z:-11.01 [[ 9.76281534e-01 -1.27980851e-01 -1.74628941e-01 -1.47064268e+02] [ 1.25882181e-01 9.91776482e-01 -2.30886667e-02 1.57669957e+01] [ 1.76147784e-01 5.58366977e-04 9.84363574e-01 -1.10059038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71534706999998 meters 0.017856066460005277 Centerline is valid? [True, True] Translation: X:-147.12, Y:15.76, Z:-11.01 [[ 9.77100212e-01 -1.24980224e-01 -1.72206619e-01 -1.47123010e+02] [ 1.22892162e-01 9.92158632e-01 -2.27764243e-02 1.57573582e+01] [ 1.73702886e-01 1.09200526e-03 9.84797499e-01 -1.10078677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77534706999998 meters 0.01654983853817352 Centerline is valid? [True, True] Translation: X:-147.18, Y:15.75, Z:-11.02 [[ 9.76703274e-01 -1.29597437e-01 -1.71041574e-01 -1.47180946e+02] [ 1.27608756e-01 9.91566657e-01 -2.26179386e-02 1.57455724e+01] [ 1.72530348e-01 2.64612328e-04 9.85004167e-01 -1.10237474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83534706999998 meters 0.01771278985700367 Centerline is valid? [True, True] Translation: X:-147.24, Y:15.73, Z:-11.03 [[ 9.76512552e-01 -1.30659311e-01 -1.71322447e-01 -1.47241414e+02] [ 1.28678328e-01 9.91427323e-01 -2.26660790e-02 1.57331545e+01] [ 1.72815290e-01 8.82245509e-05 9.84954247e-01 -1.10267147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89534706999999 meters 0.016746311347001195 Centerline is valid? [True, True] Translation: X:-147.30, Y:15.72, Z:-11.04 [[ 9.75968849e-01 -1.32279376e-01 -1.73167468e-01 -1.47301519e+02] [ 1.30268185e-01 9.91212464e-01 -2.29793492e-02 1.57215528e+01] [ 1.74685447e-01 -1.31082818e-04 9.84624282e-01 -1.10405198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95534707 meters 0.016568605790090882 Centerline is valid? [True, True] Translation: X:-147.36, Y:15.71, Z:-11.05 [[ 9.76122456e-01 -1.30770674e-01 -1.73447343e-01 -1.47363226e+02] [ 1.28715835e-01 9.91412621e-01 -2.30921893e-02 1.57123490e+01] [ 1.74977666e-01 2.15384894e-04 9.84572379e-01 -1.10509368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01534707 meters 0.01669406964819947 Centerline is valid? [True, True] Translation: X:-147.42, Y:15.70, Z:-11.06 [[ 9.76501336e-01 -1.28981181e-01 -1.72652819e-01 -1.47423020e+02] [ 1.26903892e-01 9.91646853e-01 -2.30634066e-02 1.57027869e+01] [ 1.74185370e-01 6.11132765e-04 9.84712691e-01 -1.10578736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07534707 meters 0.01687750697780919 Centerline is valid? [True, True] Translation: X:-147.48, Y:15.70, Z:-11.06 [[ 9.77505937e-01 -1.23857689e-01 -1.70708568e-01 -1.47484286e+02] [ 1.21738358e-01 9.92298746e-01 -2.28685771e-02 1.56953241e+01] [ 1.72226347e-01 1.57238921e-03 9.85056147e-01 -1.10644026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13534707 meters 0.01722636318019786 Centerline is valid? [True, True] Translation: X:-147.55, Y:15.69, Z:-11.07 [[ 9.78040185e-01 -1.20950072e-01 -1.69730602e-01 -1.47545088e+02] [ 1.18801124e-01 9.92656299e-01 -2.27983441e-02 1.56880265e+01] [ 1.71241612e-01 2.13351039e-03 9.85226755e-01 -1.10717323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19534707 meters 0.01879377184621463 Centerline is valid? [True, True] Translation: X:-147.60, Y:15.68, Z:-11.08 [[ 9.78461578e-01 -1.17434243e-01 -1.69770840e-01 -1.47604281e+02] [ 1.15230370e-01 9.93076832e-01 -2.28115513e-02 1.56799687e+01] [ 1.71274345e-01 2.75746971e-03 9.85219516e-01 -1.10768873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25534706999997 meters 0.017664078408228742 Centerline is valid? [True, True] Translation: X:-147.66, Y:15.67, Z:-11.09 [[ 9.78234496e-01 -1.16597397e-01 -1.71645906e-01 -1.47662113e+02] [ 1.14332448e-01 9.93174939e-01 -2.30571624e-02 1.56700618e+01] [ 1.73162817e-01 2.93061497e-03 9.84888852e-01 -1.10875897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31534706999997 meters 0.018079933512421018 Centerline is valid? [True, True] Translation: X:-147.72, Y:15.66, Z:-11.10 [[ 9.78324154e-01 -1.18491034e-01 -1.69828517e-01 -1.47720615e+02] [ 1.16304411e-01 9.92951832e-01 -2.28022627e-02 1.56615630e+01] [ 1.71333401e-01 2.55619874e-03 9.85209791e-01 -1.10964568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37534706999998 meters 0.018424767334620788 Centerline is valid? [True, True] Translation: X:-147.78, Y:15.65, Z:-11.10 [[ 9.78286868e-01 -1.19178955e-01 -1.69561729e-01 -1.47779715e+02] [ 1.17011376e-01 9.92869838e-01 -2.27557087e-02 1.56535884e+01] [ 1.71064728e-01 2.42095976e-03 9.85256818e-01 -1.11028824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43534706999998 meters 0.01769205702545585 Centerline is valid? [True, True] Translation: X:-147.84, Y:15.65, Z:-11.11 [[ 9.78513218e-01 -1.21339337e-01 -1.66699270e-01 -1.47837863e+02] [ 1.19277813e-01 9.92609075e-01 -2.23612892e-02 1.56465749e+01] [ 1.68180512e-01 1.99729269e-03 9.85754192e-01 -1.11145574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49534706999998 meters 0.020976739074802724 Centerline is valid? [True, True] Translation: X:-147.90, Y:15.64, Z:-11.12 [[ 9.78673219e-01 -1.21445323e-01 -1.65679705e-01 -1.47898083e+02] [ 1.19411668e-01 9.92596187e-01 -2.22185511e-02 1.56383626e+01] [ 1.67151382e-01 1.96061117e-03 9.85929293e-01 -1.11180410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55534706999998 meters 0.01976255911121268 Centerline is valid? [True, True] Translation: X:-147.96, Y:15.63, Z:-11.13 [[ 9.79190906e-01 -1.18860564e-01 -1.64491144e-01 -1.47956508e+02] [ 1.16816933e-01 9.92908049e-01 -2.20773744e-02 1.56317418e+01] [ 1.65948710e-01 2.40261324e-03 9.86131458e-01 -1.11253375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61534706999998 meters 0.01754395898224752 Centerline is valid? [True, True] Translation: X:-148.01, Y:15.62, Z:-11.13 [[ 9.79958038e-01 -1.18269674e-01 -1.60295129e-01 -1.48014606e+02] [ 1.16322913e-01 9.92978536e-01 -2.15082881e-02 1.56248276e+01] [ 1.61713401e-01 2.43122333e-03 9.86834771e-01 -1.11346926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67534707 meters 0.021295098504809384 Centerline is valid? [True, True] Translation: X:-148.07, Y:15.62, Z:-11.14 [[ 9.81282784e-01 -1.13934979e-01 -1.55251144e-01 -1.48074550e+02] [ 1.12057983e-01 9.93483585e-01 -2.08176377e-02 1.56212559e+01] [ 1.56611320e-01 3.03085942e-03 9.87655663e-01 -1.11366849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73534707 meters 0.018916398759862275 Centerline is valid? [True, True] Translation: X:-148.13, Y:15.62, Z:-11.14 [[ 9.81973841e-01 -1.11418489e-01 -1.52686920e-01 -1.48132985e+02] [ 1.09574658e-01 9.93767879e-01 -2.04645379e-02 1.56157274e+01] [ 1.54015485e-01 3.36502382e-03 9.88062704e-01 -1.11446684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79534707 meters 0.022664845138509287 Centerline is valid? [True, True] Translation: X:-148.19, Y:15.61, Z:-11.15 [[ 9.81827131e-01 -1.09179003e-01 -1.55227029e-01 -1.48191436e+02] [ 1.07246641e-01 9.94014959e-01 -2.07947074e-02 1.56122390e+01] [ 1.56568335e-01 3.76923044e-03 9.87659936e-01 -1.11518951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85534707 meters 0.019819786503561122 Centerline is valid? [True, True] Translation: X:-148.25, Y:15.60, Z:-11.16 [[ 9.81544384e-01 -1.10459113e-01 -1.56107039e-01 -1.48248690e+02] [ 1.08523793e-01 9.93874271e-01 -2.08930389e-02 1.56024133e+01] [ 1.57458596e-01 3.56611695e-03 9.87519151e-01 -1.11626759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91534707 meters 0.019224337392643627 Centerline is valid? [True, True] Translation: X:-148.30, Y:15.59, Z:-11.17 [[ 9.81129453e-01 -1.12593065e-01 -1.57187142e-01 -1.48304611e+02] [ 1.10660931e-01 9.93635943e-01 -2.10183691e-02 1.55894587e+01] [ 1.58553317e-01 3.22726543e-03 9.87345143e-01 -1.11708357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97534707 meters 0.01892561632889361 Centerline is valid? [True, True] Translation: X:-148.36, Y:15.58, Z:-11.18 [[ 9.81071245e-01 -1.15917671e-01 -1.55120296e-01 -1.48362399e+02] [ 1.14081346e-01 9.93255342e-01 -2.07188723e-02 1.55787577e+01] [ 1.56475746e-01 2.63035769e-03 9.87678299e-01 -1.11772460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03534706999997 meters 0.01849003942958628 Centerline is valid? [True, True] Translation: X:-148.42, Y:15.57, Z:-11.18 [[ 9.81183462e-01 -1.19547327e-01 -1.51616128e-01 -1.48420566e+02] [ 1.17839522e-01 9.92826518e-01 -2.02324522e-02 1.55679459e+01] [ 1.52947248e-01 1.98537541e-03 9.88232360e-01 -1.11822585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09534706999997 meters 0.018582454549570387 Centerline is valid? [True, True] Translation: X:-148.48, Y:15.55, Z:-11.18 [[ 9.83563712e-01 -1.19926437e-01 -1.34981756e-01 -1.48480144e+02] [ 1.18579648e-01 9.92781323e-01 -1.80030868e-02 1.55549317e+01] [ 1.36166412e-01 1.70109378e-03 9.90684518e-01 -1.11765017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15534706999998 meters 0.01921507099156244 Centerline is valid? [True, True] Translation: X:-148.54, Y:15.55, Z:-11.18 [[ 9.84229185e-01 -1.16118416e-01 -1.33451957e-01 -1.48538381e+02] [ 1.14769663e-01 9.93232973e-01 -1.77815885e-02 1.55454749e+01] [ 1.34613654e-01 2.18492225e-03 9.90895751e-01 -1.11829851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21534706999998 meters 0.018963798632911685 Centerline is valid? [True, True] Translation: X:-148.60, Y:15.53, Z:-11.19 [[ 9.83574979e-01 -1.21313356e-01 -1.33653774e-01 -1.48595629e+02] [ 1.20009413e-01 9.92613175e-01 -1.77995695e-02 1.55324933e+01] [ 1.34825822e-01 1.46750029e-03 9.90868227e-01 -1.11924848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27534706999998 meters 0.018917689783281556 Centerline is valid? [True, True] Translation: X:-148.66, Y:15.52, Z:-11.20 [[ 9.83306641e-01 -1.20466970e-01 -1.36366269e-01 -1.48655514e+02] [ 1.19101850e-01 9.92716028e-01 -1.81558939e-02 1.55240821e+01] [ 1.37560167e-01 1.61133609e-03 9.90492102e-01 -1.12021380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33534706999998 meters 0.02014505665871452 Centerline is valid? [True, True] Translation: X:-148.71, Y:15.51, Z:-11.21 [[ 9.82777862e-01 -1.20220576e-01 -1.40337758e-01 -1.48714049e+02] [ 1.18770529e-01 9.92745743e-01 -1.86936067e-02 1.55146800e+01] [ 1.41567068e-01 1.70367307e-03 9.89927201e-01 -1.12112289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39534706999999 meters 0.01923517133175683 Centerline is valid? [True, True] Translation: X:-148.77, Y:15.51, Z:-11.22 [[ 9.82174228e-01 -1.16675120e-01 -1.47379450e-01 -1.48773766e+02] [ 1.15032060e-01 9.93167357e-01 -1.96526393e-02 1.55065062e+01] [ 1.48665433e-01 2.34895397e-03 9.88884761e-01 -1.12245451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45534707 meters 0.019746168757761945 Centerline is valid? [True, True] Translation: X:-148.83, Y:15.50, Z:-11.23 [[ 9.83141731e-01 -1.11816804e-01 -1.44669762e-01 -1.48832861e+02] [ 1.10180386e-01 9.93724203e-01 -1.93000227e-02 1.55025746e+01] [ 1.45919910e-01 3.03488757e-03 9.89291751e-01 -1.12305895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51534707 meters 0.02189630499878595 Centerline is valid? [True, True] Translation: X:-148.89, Y:15.50, Z:-11.24 [[ 9.84127786e-01 -1.01708398e-01 -1.45423183e-01 -1.48893148e+02] [ 9.99462792e-02 9.94803853e-01 -1.93916551e-02 1.55018476e+01] [ 1.46639837e-01 4.54936054e-03 9.89179489e-01 -1.12360292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57534707 meters 0.023417382978014656 Centerline is valid? [True, True] Translation: X:-148.95, Y:15.50, Z:-11.25 [[ 9.84219236e-01 -9.41724001e-02 -1.49813398e-01 -1.48951815e+02] [ 9.22154080e-02 9.95538764e-01 -1.99721554e-02 1.54984837e+01] [ 1.51025871e-01 5.84187593e-03 9.88512549e-01 -1.12478743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63534707 meters 0.023685711827691063 Centerline is valid? [True, True] Translation: X:-149.01, Y:15.49, Z:-11.25 [[ 9.84712637e-01 -8.76932682e-02 -1.50502201e-01 -1.49010159e+02] [ 8.56443183e-02 9.96123912e-01 -2.00549810e-02 1.54924395e+01] [ 1.51677528e-01 6.85873476e-03 9.88406235e-01 -1.12537241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69534707 meters 0.026203152445632604 Centerline is valid? [True, True] Translation: X:-149.07, Y:15.49, Z:-11.26 [[ 9.85019661e-01 -7.87294158e-02 -1.53420815e-01 -1.49069975e+02] [ 7.64930055e-02 9.96860689e-01 -2.04349413e-02 1.54900103e+01] [ 1.54548010e-01 8.39319975e-03 9.87949628e-01 -1.12647352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75534706999997 meters 0.02789954368051786 Centerline is valid? [True, True] Translation: X:-149.13, Y:15.49, Z:-11.28 [[ 9.85197190e-01 -7.51590523e-02 -1.54070161e-01 -1.49128840e+02] [ 7.28605134e-02 9.97131031e-01 -2.05195499e-02 1.54868763e+01] [ 1.55170368e-01 8.99017188e-03 9.87846817e-01 -1.12754039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81534706999997 meters 0.026959337095774624 Centerline is valid? [True, True] Translation: X:-149.19, Y:15.48, Z:-11.29 [[ 9.83715513e-01 -7.85031742e-02 -1.61681916e-01 -1.49185255e+02] [ 7.60159966e-02 9.96874306e-01 -2.15217776e-02 1.54772634e+01] [ 1.62866076e-01 8.88089448e-03 9.86608216e-01 -1.12915734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87534706999998 meters 0.02504914453031132 Centerline is valid? [True, True] Translation: X:-149.24, Y:15.47, Z:-11.31 [[ 9.82458616e-01 -8.38222162e-02 -1.66580020e-01 -1.49243184e+02] [ 8.12592560e-02 9.96446740e-01 -2.21546248e-02 1.54704864e+01] [ 1.67845167e-01 8.22983357e-03 9.85779017e-01 -1.13057175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93534706999998 meters 0.024623557068672457 Centerline is valid? [True, True] Translation: X:-149.30, Y:15.46, Z:-11.32 [[ 9.82341647e-01 -8.83319175e-02 -1.64931382e-01 -1.49301347e+02] [ 8.58846352e-02 9.96063808e-01 -2.19253130e-02 1.54642863e+01] [ 1.66218885e-01 7.37307658e-03 9.86061317e-01 -1.13176606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99534706999998 meters 0.0235038501869313 Centerline is valid? [True, True] Translation: X:-149.36, Y:15.45, Z:-11.33 [[ 9.81585344e-01 -9.05935689e-02 -1.68175559e-01 -1.49357901e+02] [ 8.80829454e-02 9.95862498e-01 -2.23445645e-02 1.54540103e+01] [ 1.69504006e-01 7.11969846e-03 9.85503781e-01 -1.13295406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05534706999998 meters 0.023876327297047695 Centerline is valid? [True, True] Translation: X:-149.42, Y:15.45, Z:-11.34 [[ 9.81589970e-01 -8.90823745e-02 -1.68954022e-01 -1.49415930e+02] [ 8.65295121e-02 9.95996807e-01 -2.24277549e-02 1.54482157e+01] [ 1.70275584e-01 7.39535014e-03 9.85368730e-01 -1.13402328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11534706999998 meters 0.026320164704498532 Centerline is valid? [True, True] Translation: X:-149.48, Y:15.45, Z:-11.35 [[ 9.82008492e-01 -8.10807605e-02 -1.70543929e-01 -1.49476230e+02] [ 7.83626070e-02 9.96668246e-01 -2.26209976e-02 1.54483277e+01] [ 1.71809846e-01 8.84974490e-03 9.85090381e-01 -1.13522536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17534707 meters 0.028223284813197372 Centerline is valid? [True, True] Translation: X:-149.54, Y:15.45, Z:-11.37 [[ 9.81827542e-01 -7.43743919e-02 -1.74594182e-01 -1.49535552e+02] [ 7.14192273e-02 9.97177536e-01 -2.31571776e-02 1.54460986e+01] [ 1.75823697e-01 1.02669732e-02 9.84368131e-01 -1.13670586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23534707 meters 0.029067937307875713 Centerline is valid? [True, True] Translation: X:-149.60, Y:15.44, Z:-11.37 [[ 9.82315039e-01 -6.89715441e-02 -1.74069211e-01 -1.49595169e+02] [ 6.59507610e-02 9.97555783e-01 -2.30858647e-02 1.54427463e+01] [ 1.75236016e-01 1.11975951e-02 9.84462774e-01 -1.13738582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29534707 meters 0.03300359912694145 Centerline is valid? [True, True] Translation: X:-149.66, Y:15.44, Z:-11.38 [[ 9.82608292e-01 -6.49216316e-02 -1.73971626e-01 -1.49655034e+02] [ 6.18424902e-02 9.97819318e-01 -2.30676379e-02 1.54413358e+01] [ 1.75089838e-01 1.19076137e-02 9.84480450e-01 -1.13831568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35534707 meters 0.031995385408273506 Centerline is valid? [True, True] Translation: X:-149.71, Y:15.44, Z:-11.40 [[ 9.81919094e-01 -6.59155807e-02 -1.77454301e-01 -1.49711632e+02] [ 6.27278128e-02 9.97753474e-01 -2.35207736e-02 1.54364815e+01] [ 1.78606030e-01 1.19641766e-02 9.83847927e-01 -1.13996875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41534707 meters 0.03125093253255054 Centerline is valid? [True, True] Translation: X:-149.77, Y:15.43, Z:-11.41 [[ 9.81324185e-01 -6.96360912e-02 -1.79314412e-01 -1.49769980e+02] [ 6.64451139e-02 9.97507438e-01 -2.37477939e-02 1.54275477e+01] [ 1.80521163e-01 1.13897180e-02 9.83505152e-01 -1.14087539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47534707 meters 0.029139536944664594 Centerline is valid? [True, True] Translation: X:-149.83, Y:15.41, Z:-11.42 [[ 9.80411411e-01 -7.95748769e-02 -1.80170207e-01 -1.49828196e+02] [ 7.65202612e-02 9.96782677e-01 -2.38525647e-02 1.54138904e+01] [ 1.81488606e-01 9.59865536e-03 9.83346201e-01 -1.14216387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53534706999997 meters 0.025858517614926305 Centerline is valid? [True, True] Translation: X:-149.89, Y:15.40, Z:-11.44 [[ 9.79182556e-01 -8.95551845e-02 -1.82157600e-01 -1.49885434e+02] [ 8.66026587e-02 9.95951021e-01 -2.41151882e-02 1.53979575e+01] [ 1.83579688e-01 7.83783920e-03 9.82973584e-01 -1.14372591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59534706999997 meters 0.02236264675083369 Centerline is valid? [True, True] Translation: X:-149.94, Y:15.38, Z:-11.44 [[ 9.78745449e-01 -9.58670284e-02 -1.81292192e-01 -1.49942518e+02] [ 9.30505205e-02 9.95372147e-01 -2.39977043e-02 1.53810260e+01] [ 1.82753787e-01 6.61831101e-03 9.83136436e-01 -1.14440206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65534706999998 meters 0.022101488762942743 Centerline is valid? [True, True] Translation: X:-150.00, Y:15.37, Z:-11.46 [[ 9.78107252e-01 -9.94424555e-02 -1.82804269e-01 -1.49999109e+02] [ 9.66413898e-02 9.95025259e-01 -2.41904134e-02 1.53718925e+01] [ 1.84300419e-01 5.99436011e-03 9.82851679e-01 -1.14577261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71534706999998 meters 0.02151286401455487 Centerline is valid? [True, True] Translation: X:-150.06, Y:15.36, Z:-11.47 [[ 9.76596521e-01 -1.06053729e-01 -1.87114517e-01 -1.50056214e+02] [ 1.03241938e-01 9.94348621e-01 -2.47370539e-02 1.53608891e+01] [ 1.88680519e-01 4.84005540e-03 9.82026596e-01 -1.14671739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77534706999998 meters 0.022423642281662902 Centerline is valid? [True, True] Translation: X:-150.11, Y:15.35, Z:-11.48 [[ 9.76267799e-01 -1.09186106e-01 -1.87028285e-01 -1.50114575e+02] [ 1.06437154e-01 9.94012387e-01 -2.47084304e-02 1.53546358e+01] [ 1.88606249e-01 4.21528651e-03 9.82043743e-01 -1.14824939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83534706999998 meters 0.020818104544246617 Centerline is valid? [True, True] Translation: X:-150.17, Y:15.35, Z:-11.49 [[ 9.75487757e-01 -1.11570262e-01 -1.89672647e-01 -1.50173838e+02] [ 1.08783157e-01 9.93749175e-01 -2.50759279e-02 1.53452094e+01] [ 1.91284764e-01 3.82807124e-03 9.81527119e-01 -1.14918044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89534706999999 meters 0.022001211161073987 Centerline is valid? [True, True] Translation: X:-150.23, Y:15.34, Z:-11.50 [[ 9.76064665e-01 -1.09410534e-01 -1.87955059e-01 -1.50233928e+02] [ 1.06623713e-01 9.93987482e-01 -2.49052216e-02 1.53396046e+01] [ 1.89549870e-01 4.26864036e-03 9.81861816e-01 -1.14998315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95534707 meters 0.024392967714450483 Centerline is valid? [True, True] Translation: X:-150.29, Y:15.34, Z:-11.52 [[ 9.75801283e-01 -1.02103929e-01 -1.93356264e-01 -1.50292386e+02] [ 9.90095858e-02 9.94756469e-01 -2.56255628e-02 1.53404214e+01] [ 1.94958865e-01 5.86133346e-03 9.80793906e-01 -1.15200767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01534707 meters 0.024700258832814313 Centerline is valid? [True, True] Translation: X:-150.35, Y:15.33, Z:-11.52 [[ 9.76346111e-01 -9.77548826e-02 -1.92852933e-01 -1.50352205e+02] [ 9.45927820e-02 9.95187886e-01 -2.55592696e-02 1.53347446e+01] [ 1.94423446e-01 6.71219801e-03 9.80894729e-01 -1.15237896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07534707 meters 0.025410457136431933 Centerline is valid? [True, True] Translation: X:-150.41, Y:15.33, Z:-11.54 [[ 9.76546465e-01 -9.59871852e-02 -1.92726391e-01 -1.50410817e+02] [ 9.27958207e-02 9.95357558e-01 -2.55395206e-02 1.53308877e+01] [ 1.94283136e-01 7.05632500e-03 9.80920115e-01 -1.15375212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13534707 meters 0.024480853882138463 Centerline is valid? [True, True] Translation: X:-150.47, Y:15.32, Z:-11.55 [[ 9.75974289e-01 -9.93431544e-02 -1.93920407e-01 -1.50469103e+02] [ 9.61786368e-02 9.95032512e-01 -2.56898790e-02 1.53208730e+01] [ 1.95509223e-01 6.42166102e-03 9.80680838e-01 -1.15451216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19534707 meters 0.02345082858945083 Centerline is valid? [True, True] Translation: X:-150.53, Y:15.31, Z:-11.55 [[ 9.75695619e-01 -1.05780747e-01 -1.91907512e-01 -1.50528634e+02] [ 1.02805216e-01 9.94376511e-01 -2.54252248e-02 1.53096796e+01] [ 1.93517822e-01 5.07818725e-03 9.81083618e-01 -1.15492112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25534706999997 meters 0.022876396079920345 Centerline is valid? [True, True] Translation: X:-150.59, Y:15.30, Z:-11.57 [[ 9.74460855e-01 -1.09732901e-01 -1.95920218e-01 -1.50587151e+02] [ 1.06708292e-01 9.93951413e-01 -2.59601499e-02 1.53001503e+01] [ 1.97583860e-01 4.39083804e-03 9.80276154e-01 -1.15698948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31534706999997 meters 0.024549240495755516 Centerline is valid? [True, True] Translation: X:-150.65, Y:15.29, Z:-11.58 [[ 9.74251689e-01 -1.13597349e-01 -1.94754432e-01 -1.50647955e+02] [ 1.10682475e-01 9.93520348e-01 -2.58206677e-02 1.52898139e+01] [ 1.96425651e-01 3.59992657e-03 9.80512113e-01 -1.15763699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37534706999998 meters 0.021838105266015397 Centerline is valid? [True, True] Translation: X:-150.71, Y:15.28, Z:-11.59 [[ 9.72581766e-01 -1.21587392e-01 -1.98245342e-01 -1.50706445e+02] [ 1.18723503e-01 9.92578600e-01 -2.63145080e-02 1.52773900e+01] [ 1.99973596e-01 2.05662919e-03 9.79799128e-01 -1.15890886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43534706999998 meters 0.02241520124344703 Centerline is valid? [True, True] Translation: X:-150.77, Y:15.27, Z:-11.61 [[ 9.72277962e-01 -1.22836741e-01 -1.98964068e-01 -1.50766153e+02] [ 1.19965262e-01 9.92425134e-01 -2.64705542e-02 1.52723640e+01] [ 2.00708498e-01 1.86796001e-03 9.79649228e-01 -1.16074303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49534706999998 meters 0.024922512598269532 Centerline is valid? [True, True] Translation: X:-150.83, Y:15.27, Z:-11.61 [[ 9.72959251e-01 -1.16833281e-01 -1.99249291e-01 -1.50828024e+02] [ 1.13811195e-01 9.93146392e-01 -2.65943025e-02 1.52731270e+01] [ 2.00990814e-01 3.19837276e-03 9.79587905e-01 -1.16113014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55534706999998 meters 0.024057190541265917 Centerline is valid? [True, True] Translation: X:-150.89, Y:15.27, Z:-11.63 [[ 9.73314122e-01 -1.10894701e-01 -2.00902924e-01 -1.50888518e+02] [ 1.07683807e-01 9.93821862e-01 -2.68757079e-02 1.52749359e+01] [ 2.02642091e-01 4.52451434e-03 9.79242417e-01 -1.16287496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61534706999998 meters 0.025617943068414504 Centerline is valid? [True, True] Translation: X:-150.95, Y:15.28, Z:-11.64 [[ 9.73756909e-01 -1.03056891e-01 -2.02920574e-01 -1.50949397e+02] [ 9.96087772e-02 9.94655921e-01 -2.71604384e-02 1.52756882e+01] [ 2.04635221e-01 6.23499425e-03 9.78818446e-01 -1.16404601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67534707 meters 0.02698006523108949 Centerline is valid? [True, True] Translation: X:-151.01, Y:15.28, Z:-11.65 [[ 9.73880469e-01 -9.72620046e-02 -2.05175377e-01 -1.51010116e+02] [ 9.36072187e-02 9.95230212e-01 -2.74684203e-02 1.52754669e+01] [ 2.06868368e-01 7.54506166e-03 9.78339691e-01 -1.16506958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73534707 meters 0.028859931488376647 Centerline is valid? [True, True] Translation: X:-151.07, Y:15.27, Z:-11.66 [[ 9.74558351e-01 -9.29536551e-02 -2.03950086e-01 -1.51069788e+02] [ 8.92489372e-02 9.95634905e-01 -2.73086743e-02 1.52749958e+01] [ 2.05598266e-01 8.41156812e-03 9.78600326e-01 -1.16623945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79534707 meters 0.03161961512881453 Centerline is valid? [True, True] Translation: X:-151.13, Y:15.28, Z:-11.68 [[ 9.74542954e-01 -9.29286121e-02 -2.04035058e-01 -1.51128934e+02] [ 8.92202149e-02 9.95637167e-01 -2.73200518e-02 1.52756691e+01] [ 2.05683701e-01 8.42051229e-03 9.78582296e-01 -1.16779951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85534707 meters 0.02818176319672186 Centerline is valid? [True, True] Translation: X:-151.19, Y:15.26, Z:-11.69 [[ 9.73865924e-01 -9.61152734e-02 -2.05783908e-01 -1.51187560e+02] [ 9.24103113e-02 9.95339441e-01 -2.75632305e-02 1.52641193e+01] [ 2.07474087e-01 7.82633598e-03 9.78209206e-01 -1.16857146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91534707 meters 0.02864563994543145 Centerline is valid? [True, True] Translation: X:-151.25, Y:15.25, Z:-11.69 [[ 9.73396787e-01 -1.00160100e-01 -2.06074379e-01 -1.51247287e+02] [ 9.65288382e-02 9.94946714e-01 -2.76264407e-02 1.52538048e+01] [ 2.07800093e-01 6.99936819e-03 9.78146272e-01 -1.16940038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97534707 meters 0.02570024432656098 Centerline is valid? [True, True] Translation: X:-151.31, Y:15.24, Z:-11.71 [[ 9.72888352e-01 -1.06765930e-01 -2.05156745e-01 -1.51306396e+02] [ 1.03309831e-01 9.94268552e-01 -2.75159128e-02 1.52426655e+01] [ 2.06918662e-01 5.57520228e-03 9.78342263e-01 -1.17085531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03534706999997 meters 0.025996234327175488 Centerline is valid? [True, True] Translation: X:-151.37, Y:15.23, Z:-11.73 [[ 9.71492732e-01 -1.13207095e-01 -2.08293121e-01 -1.51366271e+02] [ 1.09784990e-01 9.93562147e-01 -2.79556247e-02 1.52317817e+01] [ 2.10116936e-01 4.29122792e-03 9.77666844e-01 -1.17255766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09534706999997 meters 0.026587914267245612 Centerline is valid? [True, True] Translation: X:-151.43, Y:15.22, Z:-11.73 [[ 9.71327272e-01 -1.16433932e-01 -2.07283552e-01 -1.51425940e+02] [ 1.13107948e-01 9.93191832e-01 -2.78671231e-02 1.52201460e+01] [ 2.09117010e-01 3.62267953e-03 9.77883916e-01 -1.17338428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15534706999998 meters 0.024480774141377386 Centerline is valid? [True, True] Translation: X:-151.49, Y:15.21, Z:-11.75 [[ 9.70792783e-01 -1.20297694e-01 -2.07580917e-01 -1.51485844e+02] [ 1.17031560e-01 9.92733689e-01 -2.79899498e-02 1.52104284e+01] [ 2.09439696e-01 2.87892262e-03 9.77817327e-01 -1.17465665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21534706999998 meters 0.025544444272236237 Centerline is valid? [True, True] Translation: X:-151.55, Y:15.20, Z:-11.76 [[ 9.71036301e-01 -1.21099487e-01 -2.05969457e-01 -1.51546602e+02] [ 1.17883752e-01 9.92636502e-01 -2.78602885e-02 1.52033330e+01] [ 2.07826668e-01 2.77289909e-03 9.78161739e-01 -1.17555380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27534706999998 meters 0.02670323917053014 Centerline is valid? [True, True] Translation: X:-151.61, Y:15.20, Z:-11.76 [[ 9.71375591e-01 -1.19653463e-01 -2.05213328e-01 -1.51607164e+02] [ 1.16411666e-01 9.92810698e-01 -2.78431602e-02 1.51964656e+01] [ 2.07069518e-01 3.15694083e-03 9.78321138e-01 -1.17648540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33534706999998 meters 0.027908243890747357 Centerline is valid? [True, True] Translation: X:-151.67, Y:15.19, Z:-11.78 [[ 9.71634029e-01 -1.12257023e-01 -2.08148202e-01 -1.51666552e+02] [ 1.08740264e-01 9.93667308e-01 -2.82990328e-02 1.51941404e+01] [ 2.10006829e-01 4.86221288e-03 9.77687829e-01 -1.17831784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39534706999999 meters 0.027650624012773486 Centerline is valid? [True, True] Translation: X:-151.73, Y:15.19, Z:-11.78 [[ 9.73101610e-01 -1.04685361e-01 -2.05217522e-01 -1.51728154e+02] [ 1.01097683e-01 9.94484657e-01 -2.79199753e-02 1.51880493e+01] [ 2.07008489e-01 6.42195702e-03 9.78318069e-01 -1.17824509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45534707 meters 0.029362482095014127 Centerline is valid? [True, True] Translation: X:-151.79, Y:15.19, Z:-11.80 [[ 9.73920621e-01 -9.46990249e-02 -2.06181279e-01 -1.51788059e+02] [ 9.08481260e-02 9.95468598e-01 -2.80871396e-02 1.51894311e+01] [ 2.07906813e-01 8.62346161e-03 9.78110624e-01 -1.17999647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51534707 meters 0.03143599294588349 Centerline is valid? [True, True] Translation: X:-151.85, Y:15.19, Z:-11.81 [[ 9.75100090e-01 -9.17949858e-02 -2.01874951e-01 -1.51849643e+02] [ 8.80422299e-02 9.95736785e-01 -2.75103853e-02 1.51852528e+01] [ 2.03539630e-01 9.05185831e-03 9.79024863e-01 -1.18108626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57534707 meters 0.02907074565968694 Centerline is valid? [True, True] Translation: X:-151.91, Y:15.17, Z:-11.82 [[ 9.74042640e-01 -9.14708830e-02 -2.07060411e-01 -1.51907133e+02] [ 8.75085554e-02 9.95763551e-01 -2.82347887e-02 1.51734815e+01] [ 2.08765871e-01 9.38233068e-03 9.77920642e-01 -1.18244165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63534707 meters 0.029924664193299148 Centerline is valid? [True, True] Translation: X:-151.97, Y:15.16, Z:-11.83 [[ 9.74467669e-01 -9.59808039e-02 -2.02978932e-01 -1.51965315e+02] [ 9.22721292e-02 9.95349056e-01 -2.76787142e-02 1.51608372e+01] [ 2.04691514e-01 8.24271385e-03 9.78791828e-01 -1.18339719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69534707 meters 0.027396664953055497 Centerline is valid? [True, True] Translation: X:-152.02, Y:15.14, Z:-11.85 [[ 9.73572473e-01 -1.03677165e-01 -2.03488783e-01 -1.52023358e+02] [ 1.00114497e-01 9.94588788e-01 -2.77530156e-02 1.51446404e+01] [ 2.05265016e-01 6.64739490e-03 9.78683854e-01 -1.18506487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75534706999997 meters 0.023625295067733334 Centerline is valid? [True, True] Translation: X:-152.08, Y:15.12, Z:-11.87 [[ 9.71812607e-01 -1.16761127e-01 -2.04809900e-01 -1.52079555e+02] [ 1.13435319e-01 9.93152267e-01 -2.79464287e-02 1.51209600e+01] [ 2.06670473e-01 3.92601546e-03 9.78402730e-01 -1.18675329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81534706999997 meters 0.023157921484311398 Centerline is valid? [True, True] Translation: X:-152.14, Y:15.10, Z:-11.88 [[ 9.71144436e-01 -1.25221714e-01 -2.02972920e-01 -1.52138036e+02] [ 1.22135725e-01 9.92126518e-01 -2.77098666e-02 1.51025293e+01] [ 2.04844694e-01 2.12003792e-03 9.78792193e-01 -1.18785829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87534706999998 meters 0.021096594312543297 Centerline is valid? [True, True] Translation: X:-152.20, Y:15.09, Z:-11.89 [[ 9.70016322e-01 -1.32537997e-01 -2.03720434e-01 -1.52197157e+02] [ 1.29582830e-01 9.91177741e-01 -2.78384074e-02 1.50857186e+01] [ 2.05612806e-01 6.05039190e-04 9.78633235e-01 -1.18894792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93534706999998 meters 0.02141647146059325 Centerline is valid? [True, True] Translation: X:-152.26, Y:15.07, Z:-11.90 [[ 9.69542406e-01 -1.36893323e-01 -2.03095397e-01 -1.52257350e+02] [ 1.34036776e-01 9.90585764e-01 -2.78206171e-02 1.50709021e+01] [ 2.04991865e-01 -2.48984067e-04 9.78763645e-01 -1.18996813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99534706999998 meters 0.02346994513803236 Centerline is valid? [True, True] Translation: X:-152.31, Y:15.05, Z:-11.93 [[ 9.69044275e-01 -1.41642190e-01 -2.02214449e-01 -1.52314515e+02] [ 1.38894855e-01 9.89917241e-01 -2.77862553e-02 1.50534751e+01] [ 2.04111275e-01 -1.16043488e-03 9.78947006e-01 -1.19278289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05534706999998 meters 0.023294130563518124 Centerline is valid? [True, True] Translation: X:-152.37, Y:15.04, Z:-11.94 [[ 9.68564121e-01 -1.44586852e-01 -2.02430694e-01 -1.52373270e+02] [ 1.41880063e-01 9.89490653e-01 -2.78979458e-02 1.50403095e+01] [ 2.04336956e-01 -1.69993031e-03 9.78899136e-01 -1.19373470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11534706999998 meters 0.02462890907876487 Centerline is valid? [True, True] Translation: X:-152.43, Y:15.02, Z:-11.95 [[ 9.66932111e-01 -1.52558007e-01 -2.04373058e-01 -1.52430443e+02] [ 1.49963451e-01 9.88288792e-01 -2.82174788e-02 1.50203617e+01] [ 2.06284405e-01 -3.36410269e-03 9.78486294e-01 -1.19540897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17534707 meters 0.024997950524639122 Centerline is valid? [True, True] Translation: X:-152.49, Y:15.00, Z:-11.96 [[ 9.65218831e-01 -1.63084617e-01 -2.04342887e-01 -1.52488996e+02] [ 1.60721261e-01 9.86596196e-01 -2.82244965e-02 1.50006863e+01] [ 2.06206897e-01 -5.59943104e-03 9.78492392e-01 -1.19587644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23534707 meters 0.035794000755156256 Centerline is valid? [True, True] Translation: X:-152.54, Y:14.97, Z:-11.99 [[ 9.63017115e-01 -1.74491303e-01 -2.05306653e-01 -1.52542395e+02] [ 1.72358994e-01 9.84625657e-01 -2.83670943e-02 1.49704112e+01] [ 2.07100009e-01 -8.06845077e-03 9.78286505e-01 -1.19873497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29534707 meters 0.04179016096886985 Centerline is valid? [True, True] Translation: X:-152.60, Y:14.95, Z:-12.00 [[ 9.62194917e-01 -1.84186548e-01 -2.00639619e-01 -1.52601002e+02] [ 1.82356585e-01 9.82841374e-01 -2.77292249e-02 1.49459446e+01] [ 2.02304269e-01 -9.90703639e-03 9.79272604e-01 -1.19955907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35534707 meters 0.0487876052976286 Centerline is valid? [True, True] Translation: X:-152.66, Y:14.92, Z:-12.00 [[ 9.60616908e-01 -1.94986213e-01 -1.97978619e-01 -1.52657527e+02] [ 1.93428053e-01 9.80732564e-01 -2.73719980e-02 1.49204345e+01] [ 1.99501241e-01 -1.20006148e-02 9.79824086e-01 -1.20038903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41534707 meters 0.05419098720535763 Centerline is valid? [True, True] Translation: X:-152.72, Y:14.90, Z:-12.02 [[ 9.60262410e-01 -1.98777306e-01 -1.95917552e-01 -1.52716019e+02] [ 1.97325104e-01 9.79963293e-01 -2.71062149e-02 1.49015273e+01] [ 1.97380110e-01 -1.26303721e-02 9.80245666e-01 -1.20180848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47534707 meters 0.05591534292343214 Centerline is valid? [True, True] Translation: X:-152.78, Y:14.89, Z:-12.03 [[ 9.60948754e-01 -1.98152073e-01 -1.93166373e-01 -1.52775890e+02] [ 1.96716813e-01 9.80094551e-01 -2.67799759e-02 1.48898229e+01] [ 1.94627818e-01 -1.22648889e-02 9.80800482e-01 -1.20252804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53534706999997 meters 0.053364513461005424 Centerline is valid? [True, True] Translation: X:-152.84, Y:14.89, Z:-12.03 [[ 9.63636762e-01 -1.86576556e-01 -1.91293962e-01 -1.52837158e+02] [ 1.84941285e-01 9.82391415e-01 -2.65297742e-02 1.48919140e+01] [ 1.92875380e-01 -9.81308545e-03 9.81174190e-01 -1.20323802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59534706999997 meters 0.05035519579254427 Centerline is valid? [True, True] Translation: X:-152.90, Y:14.91, Z:-12.05 [[ 9.67459389e-01 -1.62204634e-01 -1.94195747e-01 -1.52898903e+02] [ 1.60030368e-01 9.86744404e-01 -2.69399940e-02 1.49100895e+01] [ 1.95991359e-01 -5.01386688e-03 9.80592805e-01 -1.20536198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65534706999998 meters 0.049568793809577384 Centerline is valid? [True, True] Translation: X:-152.96, Y:14.92, Z:-12.06 [[ 9.71677514e-01 -1.42986969e-01 -1.88142326e-01 -1.52962372e+02] [ 1.40587740e-01 9.89723978e-01 -2.61062258e-02 1.49228670e+01] [ 1.89941821e-01 -1.08367174e-03 9.81794750e-01 -1.20596188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71534706999998 meters 0.04758528417718746 Centerline is valid? [True, True] Translation: X:-153.03, Y:14.93, Z:-12.06 [[ 9.75873255e-01 -1.25467569e-01 -1.78687656e-01 -1.53025920e+02] [ 1.23012082e-01 9.92095234e-01 -2.48006846e-02 1.49331839e+01] [ 1.80386854e-01 2.22158422e-03 9.83593233e-01 -1.20555565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77534706999998 meters 0.05207082566926936 Centerline is valid? [True, True] Translation: X:-153.09, Y:14.94, Z:-12.07 [[ 9.76467127e-01 -1.07438421e-01 -1.86999826e-01 -1.53086828e+02] [ 1.04417574e-01 9.94194692e-01 -2.59592753e-02 1.49441700e+01] [ 1.88703258e-01 5.82231090e-03 9.82016895e-01 -1.20729652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83534706999998 meters 0.05634279539321704 Centerline is valid? [True, True] Translation: X:-153.15, Y:14.95, Z:-12.09 [[ 9.77755089e-01 -9.74938175e-02 -1.85714677e-01 -1.53148055e+02] [ 9.43363956e-02 9.95206410e-01 -2.57846140e-02 1.49477271e+01] [ 1.87338278e-01 7.69138434e-03 9.82265347e-01 -1.20853451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89534706999999 meters 0.06068315330583966 Centerline is valid? [True, True] Translation: X:-153.21, Y:14.94, Z:-12.09 [[ 9.78830041e-01 -1.00441834e-01 -1.78334484e-01 -1.53207772e+02] [ 9.75810046e-02 9.94919435e-01 -2.47642159e-02 1.49404402e+01] [ 1.79915807e-01 6.83790033e-03 9.83658246e-01 -1.20854355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95534707 meters 0.06887540990926927 Centerline is valid? [True, True] Translation: X:-153.27, Y:14.93, Z:-12.09 [[ 9.78214470e-01 -1.12270498e-01 -1.74618971e-01 -1.53265675e+02] [ 1.09714249e-01 9.93667179e-01 -2.42553465e-02 1.49257418e+01] [ 1.76236300e-01 4.56874171e-03 9.84337286e-01 -1.20926379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01534707 meters 0.07720068975298354 Centerline is valid? [True, True] Translation: X:-153.33, Y:14.92, Z:-12.11 [[ 9.78402389e-01 -1.12013098e-01 -1.73729188e-01 -1.53327245e+02] [ 1.09473727e-01 9.93695985e-01 -2.41617996e-02 1.49225920e+01] [ 1.75340435e-01 4.62118080e-03 9.84497017e-01 -1.21060245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07534707 meters 0.09048657535671097 Centerline is valid? [True, True] Translation: X:-153.39, Y:14.93, Z:-12.13 [[ 9.78206299e-01 -1.10966301e-01 -1.75496201e-01 -1.53389526e+02] [ 1.08345809e-01 9.93811960e-01 -2.44739469e-02 1.49320079e+01] [ 1.77126006e-01 4.92629122e-03 9.84175853e-01 -1.21258446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13534707 meters 0.10042133890129293 Centerline is valid? [True, False] Translation: X:-153.40, Y:14.93, Z:-12.13 [[ 9.83586714e-01 -7.72546799e-02 -1.63061001e-01 -1.53402927e+02] [ 7.54809809e-02 9.97001386e-01 -1.70545557e-02 1.49257479e+01] [ 1.63889588e-01 4.46663014e-03 9.86468576e-01 -1.21328818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19534707 meters 0.13257548457537163 Centerline is valid? [False, False] Translation: X:-153.40, Y:14.93, Z:-12.14 [[ 9.84873180e-01 -6.99117049e-02 -1.58547070e-01 -1.53397503e+02] [ 6.75293407e-02 9.97509306e-01 -2.03708573e-02 1.49334495e+01] [ 1.59576340e-01 9.35613184e-03 9.87141254e-01 -1.21365293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25534706999997 meters 0.15481849987574015 Centerline is valid? [False, False] Translation: X:-153.39, Y:14.94, Z:-12.15 [[ 9.86429839e-01 -7.90527490e-02 -1.43898700e-01 -1.53390212e+02] [ 7.53636693e-02 9.96676675e-01 -3.09179922e-02 1.49394862e+01] [ 1.45864630e-01 1.96536960e-02 9.89109318e-01 -1.21451878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31534706999997 meters 0.1790345894961734 Centerline is valid? [False, False] Translation: X:-153.42, Y:14.94, Z:-12.16 [[ 9.91593476e-01 -8.20969184e-02 -1.00012376e-01 -1.53424238e+02] [ 7.90273964e-02 9.96282774e-01 -3.42827070e-02 1.49436040e+01] [ 1.02455112e-01 2.60907909e-02 9.94395405e-01 -1.21608674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37534706999998 meters 0.29668804137944627 Centerline is valid? [False, False] Translation: X:-153.42, Y:14.95, Z:-12.16 [[ 9.92267392e-01 -8.24828665e-02 -9.27469685e-02 -1.53419842e+02] [ 7.87390277e-02 9.95953071e-01 -4.33318160e-02 1.49480089e+01] [ 9.59457605e-02 3.56939420e-02 9.94746376e-01 -1.21646437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43534706999998 meters 0.3132347273662258 Centerline is valid? [False, False] Translation: X:-153.42, Y:14.96, Z:-12.17 [[ 9.93539931e-01 -7.71413572e-02 -8.32323023e-02 -1.53421265e+02] [ 7.35908229e-02 9.96276414e-01 -4.49187817e-02 1.49579478e+01] [ 8.63874755e-02 3.85034696e-02 9.95517296e-01 -1.21683980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49534706999998 meters 0.3157351712297983 Centerline is valid? [False, False] Translation: X:-153.42, Y:14.96, Z:-12.17 [[ 9.93529346e-01 -7.75554330e-02 -8.29734533e-02 -1.53418248e+02] [ 7.38927563e-02 9.96188833e-01 -4.63429490e-02 1.49645241e+01] [ 8.62513751e-02 3.99119426e-02 9.95473625e-01 -1.21721527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55534706999998 meters 0.31453528152659865 Centerline is valid? [False, False] Translation: X:-153.44, Y:14.97, Z:-12.18 [[ 9.94844134e-01 -7.53348474e-02 -6.78955809e-02 -1.53439430e+02] [ 7.18916284e-02 9.96066037e-01 -5.18077621e-02 1.49707056e+01] [ 7.15314121e-02 4.66595243e-02 9.96346399e-01 -1.21795926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61534706999998 meters 0.30453060830116035 Centerline is valid? [False, False] Translation: X:-153.47, Y:14.97, Z:-12.18 [[ 9.96062055e-01 -6.67260750e-02 -5.83781968e-02 -1.53468752e+02] [ 6.33369329e-02 9.96299686e-01 -5.80979238e-02 1.49704397e+01] [ 6.20388255e-02 5.41716414e-02 9.96602537e-01 -1.21794653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67534707 meters 0.3132968271331944 Centerline is valid? [False, False] Translation: X:-153.52, Y:14.97, Z:-12.19 [[ 9.96958960e-01 -6.99214307e-02 -3.44067661e-02 -1.53522413e+02] [ 6.77668051e-02 9.95880869e-01 -6.02408141e-02 1.49706098e+01] [ 3.84771640e-02 5.77259828e-02 9.97590707e-01 -1.21877109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73534707 meters 0.30190856574997815 Centerline is valid? [False, False] Translation: X:-153.56, Y:14.96, Z:-12.18 [[ 9.98175293e-01 -5.37360374e-02 -2.75412998e-02 -1.53561771e+02] [ 5.19278479e-02 9.96685208e-01 -6.26266317e-02 1.49624868e+01] [ 3.08153131e-02 6.10821960e-02 9.97656946e-01 -1.21769249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79534707 meters 0.23365525561786155 Centerline is valid? [False, False] Translation: X:-153.60, Y:14.96, Z:-12.17 [[ 9.99225590e-01 -3.77764503e-02 -1.10072771e-02 -1.53601325e+02] [ 3.69957892e-02 9.97256809e-01 -6.41105923e-02 1.49625908e+01] [ 1.33989526e-02 6.36537215e-02 9.97882093e-01 -1.21716412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85534707 meters 0.24121600755334568 Centerline is valid? [False, False] Translation: X:-153.65, Y:14.97, Z:-12.17 [[ 9.99793694e-01 -2.02869613e-02 -1.00449032e-03 -1.53649104e+02] [ 2.01371033e-02 9.96453571e-01 -8.16993149e-02 1.49654499e+01] [ 2.65835880e-03 8.16622323e-02 9.96656517e-01 -1.21653429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91534707 meters 0.23464903897027756 Centerline is valid? [False, False] Translation: X:-153.73, Y:14.96, Z:-12.16 [[ 9.99719784e-01 -2.31469297e-02 4.95714476e-03 -1.53727054e+02] [ 2.34771020e-02 9.96316203e-01 -8.24793839e-02 1.49609684e+01] [-3.02973914e-03 8.25726512e-02 9.96580442e-01 -1.21564150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97534707 meters 0.2343048363355322 Centerline is valid? [False, False] Translation: X:-153.79, Y:14.95, Z:-12.14 [[ 9.98193382e-01 -4.72325718e-02 3.71356535e-02 -1.53793626e+02] [ 4.99674651e-02 9.95813703e-01 -7.65396726e-02 1.49512225e+01] [-3.33650270e-02 7.82569691e-02 9.96374740e-01 -1.21381399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03534706999997 meters 0.24620956494382026 Centerline is valid? [False, False] Translation: X:-153.85, Y:14.94, Z:-12.12 [[ 9.95517000e-01 -7.54338269e-02 5.70582237e-02 -1.53850845e+02] [ 7.92872702e-02 9.94489194e-01 -6.85913342e-02 1.49373344e+01] [-5.15696801e-02 7.28078300e-02 9.96011841e-01 -1.21161411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09534706999997 meters 0.2458669545132987 Centerline is valid? [False, False] Translation: X:-153.90, Y:14.92, Z:-12.09 [[ 9.92764402e-01 -9.06012942e-02 7.88051230e-02 -1.53904178e+02] [ 9.49190607e-02 9.94079398e-01 -5.28821514e-02 1.49239566e+01] [-7.35473579e-02 5.99796257e-02 9.95486429e-01 -1.20928086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15534706999998 meters 0.22909011480565047 Centerline is valid? [False, False] Translation: X:-153.93, Y:14.91, Z:-12.06 [[ 9.91151896e-01 -8.53400652e-02 1.01661167e-01 -1.53934602e+02] [ 9.05125532e-02 9.94766910e-01 -4.73948507e-02 1.49142467e+01] [-9.70844849e-02 5.61771078e-02 9.93689456e-01 -1.20646519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21534706999998 meters 0.2293953017196206 Centerline is valid? [False, False] Translation: X:-153.96, Y:14.90, Z:-12.06 [[ 9.92990830e-01 -6.40239348e-02 9.93486196e-02 -1.53962455e+02] [ 6.98636622e-02 9.95957714e-01 -5.64561858e-02 1.49019558e+01] [-9.53324769e-02 6.30013332e-02 9.93449823e-01 -1.20581016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27534706999998 meters 0.2329664024869401 Centerline is valid? [False, False] Translation: X:-153.97, Y:14.89, Z:-12.05 [[ 9.96564069e-01 -1.50037872e-02 8.14551567e-02 -1.53971681e+02] [ 2.07786331e-02 9.97294072e-01 -7.05179561e-02 1.48919116e+01] [-8.01767085e-02 7.19681881e-02 9.94179197e-01 -1.20493152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33534706999998 meters 0.23461690533613835 Centerline is valid? [False, False] Translation: X:-153.96, Y:14.88, Z:-12.04 [[ 9.98711979e-01 5.57425938e-03 5.04312439e-02 -1.53957976e+02] [-1.74765344e-03 9.97136255e-01 -7.56057833e-02 1.48797727e+01] [-5.07082680e-02 7.54202651e-02 9.95861665e-01 -1.20361151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39534706999999 meters 0.24015009300046203 Centerline is valid? [False, False] Translation: X:-153.95, Y:14.87, Z:-12.03 [[ 9.99344073e-01 1.73288853e-02 3.17983318e-02 -1.53950083e+02] [-1.51130082e-02 9.97526393e-01 -6.86490496e-02 1.48655715e+01] [-3.29092867e-02 6.81234523e-02 9.97133980e-01 -1.20314991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45534707 meters 0.24515431399346987 Centerline is valid? [False, False] Translation: X:-153.94, Y:14.85, Z:-12.03 [[ 9.99223044e-01 2.64109659e-02 2.92535382e-02 -1.53944204e+02] [-2.44853382e-02 9.97627973e-01 -6.43342446e-02 1.48526686e+01] [-3.08832776e-02 6.35679770e-02 9.97499542e-01 -1.20313027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51534707 meters 0.2538439897764646 Centerline is valid? [False, False] Translation: X:-153.94, Y:14.84, Z:-12.03 [[ 9.99081906e-01 3.34902590e-02 2.67160687e-02 -1.53939224e+02] [-3.18039693e-02 9.97617174e-01 -6.12248491e-02 1.48428948e+01] [-2.87028450e-02 6.03189619e-02 9.97766390e-01 -1.20304391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1524.61 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/5352 [00:00